相关论文: Vid2CAD: CAD Model Alignment using Multi-View Cons…

3D scene reconstruction is a long-standing vision task. Existing approaches can be categorized into geometry-based and learning-based methods. The former leverages multi-view geometry but can face catastrophic failures due to the reliance…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…

Video segmentation aims at partitioning video sequences into meaningful segments based on objects or regions of interest within frames. Current video segmentation models are often derived from image segmentation techniques, which struggle…

In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…

Understanding and predicting dynamics of the physical world can enhance a robot's ability to plan and interact effectively in complex environments. While recent video generation models have shown strong potential in modeling dynamic scenes,…

Cross-modal systems trained on 2D visual inputs are presented with a dimensional shift when processing 3D scenes. An in-scene camera bridges the dimensionality gap but requires learning a control module. We introduce a new method that…

Recent advancements in vision-language models have achieved remarkable results in making language models understand vision inputs. However, a unified approach to align these models across diverse tasks such as image captioning and visual…

This paper addresses the challenging task of reconstructing the poses of multiple individuals engaged in close interactions, captured by multiple calibrated cameras. The difficulty arises from the noisy or false 2D keypoint detections due…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

We address the problem of estimating the shape of a person's head, defined as the geometry of the complete head surface, from a video taken with a single moving camera, and determining the alignment of the fitted 3D head for all video…

Multi-view inverse rendering aims to recover geometry, materials, and illumination consistently across multiple viewpoints. When applied to multi-view images, existing single-view approaches often ignore cross-view relationships, leading to…

3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…

Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few changed objects. We introduce Video-based Scene Change Detection…

Existing methods for reconstructing objects and humans from a monocular image suffer from severe mesh collisions and performance limitations for interacting occluding objects. This paper introduces a method to obtain a globally consistent…

Calibrating a robot simulator's physics parameters (friction, damping, material stiffness) to match real hardware is often done by hand or with black-box optimizers that reduce error but cannot explain which physical discrepancies drive the…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

In this paper, we present CAD2Program, a new method for reconstructing 3D parametric models from 2D CAD drawings. Our proposed method is inspired by recent successes in vision-language models (VLMs), and departs from traditional methods…

Accurate 3D human pose estimation from single images is possible with sophisticated deep-net architectures that have been trained on very large datasets. However, this still leaves open the problem of capturing motions for which no such…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…