相关论文: CoCoNets: Continuous Contrastive 3D Scene Represen…

Contrastive learning has emerged as a promising paradigm for 3D open-world understanding, i.e., aligning point cloud representation to image and text embedding space individually. In this paper, we introduce MixCon3D, a simple yet effective…

3D scene understanding for robotic applications exhibits a unique set of requirements including real-time inference, object-centric latent representation learning, accurate 6D pose estimation and 3D reconstruction of objects. Current…

We present a convolutional network capable of inferring a 3D representation of a previously unseen object given a single image of this object. Concretely, the network can predict an RGB image and a depth map of the object as seen from an…

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…

Contrastive self-supervised learning has outperformed supervised pretraining on many downstream tasks like segmentation and object detection. However, current methods are still primarily applied to curated datasets like ImageNet. In this…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the…

We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…

Although self-/un-supervised methods have led to rapid progress in visual representation learning, these methods generally treat objects and scenes using the same lens. In this paper, we focus on learning representations for objects and…

We introduce a novel framework for Continual Learning in 3D object classification. Our approach, CL3D, is based on the selection of prototypes from each class using spectral clustering. For non-Euclidean data such as point clouds, spectral…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain…

Advances in deep learning techniques have allowed recent work to reconstruct the shape of a single object given only one RBG image as input. Building on common encoder-decoder architectures for this task, we propose three extensions: (1)…

A bathtub in a library, a sink in an office, a bed in a laundry room -- the counter-intuition suggests that scene provides important prior knowledge for 3D object detection, which instructs to eliminate the ambiguous detection of similar…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…