相关论文: KeypointDeformer: Unsupervised 3D Keypoint Discove…

Understanding and representing the structure of 3D objects in an unsupervised manner remains a core challenge in computer vision and graphics. Most existing unsupervised keypoint methods are not designed for unconditional generative…

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…

This paper presents a novel approach to learn and detect distinctive regions on 3D shapes. Unlike previous works, which require labeled data, our method is unsupervised. We conduct the analysis on point sets sampled from 3D shapes, then…

Unsupervised 3D keypoints estimation from Point Cloud Data (PCD) is a complex task, even more challenging when an object shape is deforming. As keypoints should be semantically and geometrically consistent across all the 3D frames - each…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Automatic discovery of category-specific 3D keypoints from a collection of objects of some category is a challenging problem. One reason is that not all objects in a category necessarily have the same semantic parts. The level of difficulty…

We introduce an unsupervised feature learning approach that embeds 3D shape information into a single-view image representation. The main idea is a self-supervised training objective that, given only a single 2D image, requires all unseen…

In this paper, we propose a novel approach to 3D deformable object manipulation leveraging a deep neural network called DeformerNet. Controlling the shape of a 3D object requires an effective state representation that can capture the full…

Detecting 3D keypoints with semantic consistency is widely used in many scenarios such as pose estimation, shape registration and robotics. Currently, most unsupervised 3D keypoint detection methods focus on the rigid-body objects. However,…

This paper proposes a novel paradigm for the unsupervised learning of object landmark detectors. Contrary to existing methods that build on auxiliary tasks such as image generation or equivariance, we propose a self-training approach where,…

Analyzing and training 3D body posture models depend heavily on the availability of joint labels that are commonly acquired through laborious manual annotation of body joints or via marker-based joint localization using carefully curated…

This paper introduces KeyDiff3D, a framework for unsupervised monocular 3D keypoints estimation that accurately predicts 3D keypoints from a single image. While previous methods rely on manual annotations or calibrated 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…

Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…

Semantic 3D keypoints are category-level semantic consistent points on 3D objects. Detecting 3D semantic keypoints is a foundation for a number of 3D vision tasks but remains challenging, due to the ambiguity of semantic information,…

Learning automatically the structure of object categories remains an important open problem in computer vision. In this paper, we propose a novel unsupervised approach that can discover and learn landmarks in object categories, thus…

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…

We introduce the first completely unsupervised correspondence learning approach for deformable 3D shapes. Key to our model is the understanding that natural deformations (such as changes in pose) approximately preserve the metric structure…

We introduce a novel learning-based method for encoding and manipulating 3D surface meshes. Our method is specifically designed to create an interpretable embedding space for deformable shape collections. Unlike previous 3D mesh…

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…