相关论文: PAUL: Procrustean Autoencoder for Unsupervised Lif…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…

Non-Rigid Structure-from-Motion (NRSfM) reconstructs a deformable 3D object from the correspondences established between monocular 2D images. Current NRSfM methods lack statistical robustness, which is the ability to cope with…

Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting…

The advances in monocular 3D human pose estimation are dominated by supervised techniques that require large-scale 2D/3D pose annotations. Such methods often behave erratically in the absence of any provision to discard unfamiliar…

In this work we introduce Lifting Autoencoders, a generative 3D surface-based model of object categories. We bring together ideas from non-rigid structure from motion, image formation, and morphable models to learn a controllable, geometric…

Most recent approaches to monocular 3D pose estimation rely on Deep Learning. They either train a Convolutional Neural Network to directly regress from image to 3D pose, which ignores the dependencies between human joints, or model these…

Many machine learning problems involve regressing variables on a non-Euclidean manifold -- e.g. a discrete probability distribution, or the 6D pose of an object. One way to tackle these problems through gradient-based learning is to use a…

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on…

Recently developed reduced-order modeling techniques aim to approximate nonlinear dynamical systems on low-dimensional manifolds learned from data. This is an effective approach for modeling dynamics in a post-transient regime where the…

Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…

Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Self-supervised pre-training paradigm has gained increasing prominence for learning transferable representations in medical imaging, yet existing methods for ultrasound (US) images operate at the image or frame level, overlooking the…

We propose SelfSplat, a novel 3D Gaussian Splatting model designed to perform pose-free and 3D prior-free generalizable 3D reconstruction from unposed multi-view images. These settings are inherently ill-posed due to the lack of…

Large Reconstruction Models (LRMs) have recently become a popular method for creating 3D foundational models. Training 3D reconstruction models with 2D visual data traditionally requires prior knowledge of camera poses for the training…

The paper introduces an accurate solution to dense orthographic Non-Rigid Structure from Motion (NRSfM) in scenarios with severe occlusions or, likewise, inaccurate correspondences. We integrate a shape prior term into variational…