相关论文: Articulation-aware Canonical Surface Mapping

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…

We propose a weakly-supervised multi-view learning approach to learn category-specific surface mapping without dense annotations. We learn the underlying surface geometry of common categories, such as human faces, cars, and airplanes, given…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

This paper shows that it is possible to learn models for monocular 3D reconstruction of articulated objects (e.g., horses, cows, sheep), using as few as 50-150 images labeled with 2D keypoints. Our proposed approach involves training…

Recovery of articulated 3D structure from 2D observations is a challenging computer vision problem with many applications. Current learning-based approaches achieve state-of-the-art accuracy on public benchmarks but are restricted to…

We introduce Correlational Image Modeling (CIM), a novel and surprisingly effective approach to self-supervised visual pre-training. Our CIM performs a simple pretext task: we randomly crop image regions (exemplars) from an input image…

We propose a novel framework for fine-grained object recognition that learns to recover object variation in 3D space from a single image, trained on an image collection without using any ground-truth 3D annotation. We accomplish this by…

Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…

Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

This work explores the use of spatial context as a source of free and plentiful supervisory signal for training a rich visual representation. Given only a large, unlabeled image collection, we extract random pairs of patches from each image…

The goal of many computer vision systems is to transform image pixels into 3D representations. Recent popular models use neural networks to regress directly from pixels to 3D object parameters. Such an approach works well when supervision…

Deformable templates, or atlases, are images that represent a prototypical anatomy for a population, and are often enhanced with probabilistic anatomical label maps. They are commonly used in medical image analysis for population studies…

Humans understand a set of canonical geometric transformations (such as translation and rotation) that support generalization by being untethered to any specific object. We explore inductive biases that help a neural network model learn…

The acoustic cues used by humans and other animals to localise sounds are subtle, and change during and after development. This means that we need to constantly relearn or recalibrate the auditory spatial map throughout our lifetimes. This…

We present a learning framework that learns to recover the 3D shape, pose and texture from a single image, trained on an image collection without any ground truth 3D shape, multi-view, camera viewpoints or keypoint supervision. We approach…

Humans do not acquire perceptual abilities in the way we train machines. While machine learning algorithms typically operate on large collections of randomly-chosen, explicitly-labeled examples, human acquisition relies more heavily on…

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…