相关论文: SIMstack: A Generative Shape and Instance Model fo…

Shape priors learned from data are commonly used to reconstruct 3D objects from partial or noisy data. Yet no such shape priors are available for indoor scenes, since typical 3D autoencoders cannot handle their scale, complexity, or…

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,…

Visual scenes are extremely diverse, not only because there are infinite possible combinations of objects and backgrounds but also because the observations of the same scene may vary greatly with the change of viewpoints. When observing a…

Egocentric scenes exhibit frequent occlusions, varied viewpoints, and dynamic interactions compared to typical scene understanding tasks. Occlusions and varied viewpoints can lead to multi-view semantic inconsistencies, while dynamic…

Reconstructing dynamic driving scenes from dashcam videos has attracted increasing attention due to its significance in autonomous driving and scene understanding. While recent advances have made impressive progress, most methods still…

With the advent of affordable depth sensors, 3D capture becomes more and more ubiquitous and already has made its way into commercial products. Yet, capturing the geometry or complete shapes of everyday objects using scanning devices (e.g.…

Vision-based 3D Semantic Scene Completion (SSC) has received growing attention due to its potential in autonomous driving. While most existing approaches follow an ego-centric paradigm by aggregating and diffusing features over the entire…

The appearance of the same object may vary in different scene images due to perspectives and occlusions between objects. Humans can easily identify the same object, even if occlusions exist, by completing the occluded parts based on its…

We present a method for estimating neural scenes representations of objects given only a single image. The core of our method is the estimation of a geometric scaffold for the object and its use as a guide for the reconstruction of the…

While data has certainly taken the center stage in computer vision in recent years, it can still be difficult to obtain in certain scenarios. In particular, acquiring ground truth 3D shapes of objects pictured in 2D images remains a…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

This study explores the potential of open-source video conditional generation models as encoders for downstream tasks, focusing on instance segmentation using the BAIR Robot Pushing Dataset. The researchers propose using video prediction…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…

Panoptic segmentation (PS) is a complex scene understanding task that requires providing high-quality segmentation for both thing objects and stuff regions. Previous methods handle these two classes with semantic and instance segmentation…

Extracting structured representations from raw visual data is an important and long-standing challenge in machine learning. Recently, techniques for unsupervised learning of object-centric representations have raised growing interest. In…

We propose a method that learns to camouflage 3D objects within scenes. Given an object's shape and a distribution of viewpoints from which it will be seen, we estimate a texture that will make it difficult to detect. Successfully solving…

The ability to segment unknown objects in cluttered scenes has a profound impact on robot grasping. The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream, which…

This paper presents a computational model to recover the most likely interpretation of the 3D scene structure from a planar image, where some objects may occlude others. The estimated scene interpretation is obtained by integrating some…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…