相关论文: Articulation-aware Canonical Surface Mapping

We explore the task of Canonical Surface Mapping (CSM). Specifically, given an image, we learn to map pixels on the object to their corresponding locations on an abstract 3D model of the category. But how do we learn such a mapping? A…

Canonical surface mapping generalizes keypoint detection by assigning each pixel of an object to a corresponding point in a 3D template. Popularised by DensePose for the analysis of humans, authors have since attempted to apply the concept…

Learning geometry, motion, and appearance priors of object classes is important for the solution of a large variety of computer vision problems. While the majority of approaches has focused on static objects, dynamic objects, especially…

We describe a technique for structured prediction, based on canonical correlation analysis. Our learning algorithm finds two projections for the input and the output spaces that aim at projecting a given input and its correct output into…

Category-level articulated object pose estimation aims to estimate a hierarchy of articulation-aware object poses of an unseen articulated object from a known category. To reduce the heavy annotations needed for supervised learning methods,…

We propose 3D Congealing, a novel problem of 3D-aware alignment for 2D images capturing semantically similar objects. Given a collection of unlabeled Internet images, our goal is to associate the shared semantic parts from the inputs and…

We propose CaSPR, a method to learn object-centric Canonical Spatiotemporal Point Cloud Representations of dynamically moving or evolving objects. Our goal is to enable information aggregation over time and the interrogation of object state…

While neural representations for static 3D shapes are widely studied, representations for deformable surfaces are limited to be template-dependent or lack efficiency. We introduce Canonical Deformation Coordinate Space (CaDeX), a unified…

Spatial understanding is a fundamental problem with wide-reaching real-world applications. The representation of spatial knowledge is often modeled with spatial templates, i.e., regions of acceptability of two objects under an explicit…

Perception is an essential part of robotic manipulation in a semi-structured environment. Traditional approaches produce a narrow task-specific prediction (e.g., object's 6D pose), that cannot be adapted to other tasks and is ill-suited for…

This project addresses the task of category-level pose estimation for articulated objects from a single depth image. We present a novel category-level approach that correctly accommodates object instances previously unseen during training.…

We propose an unsupervised method for 3D geometry-aware representation learning of articulated objects, in which no image-pose pairs or foreground masks are used for training. Though photorealistic images of articulated objects can be…

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…

In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…

Conventional and deep learning-based methods have shown great potential in the medical imaging domain, as means for deriving diagnostic, prognostic, and predictive biomarkers, and by contributing to precision medicine. However, these…

Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…

Limited capture range, and the requirement to provide high quality initialization for optimization-based 2D/3D image registration methods, can significantly degrade the performance of 3D image reconstruction and motion compensation…

We propose a novel unsupervised method to learn the pose and part-segmentation of articulated objects with rigid parts. Given two observations of an object in different articulation states, our method learns the geometry and appearance of…

As Deep Neural Network models for face processing tasks approach human-like performance, their deployment in critical applications such as law enforcement and access control has seen an upswing, where any failure may have far-reaching…

Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior…