相关论文: Single Image 3D Object Estimation with Primitive G…

Representing scenes at the granularity of objects is a prerequisite for scene understanding and decision making. We propose PriSMONet, a novel approach based on Prior Shape knowledge for learning Multi-Object 3D scene decomposition and…

Geometric estimation is required for scene understanding and analysis in panoramic 360{\deg} images. Current methods usually predict a single feature, such as depth or surface normal. These methods can lack robustness, especially when…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image…

We introduce ProcGen3D, a new approach for 3D content creation by generating procedural graph abstractions of 3D objects, which can then be decoded into rich, complex 3D assets. Inspired by the prevalent use of procedural generators in…

We propose a novel method for 3D object reconstruction from a sparse set of views captured from a 360-degree calibrated camera rig. We represent the object surface through a hybrid model that uses both an MLP-based neural representation and…

Rendering novel, relit views of a human head, given a monocular portrait image as input, is an inherently underconstrained problem. The traditional graphics solution is to explicitly decompose the input image into geometry, material and…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Given a set of calibrated images of a scene, we present an approach that produces a simple, compact, and actionable 3D world representation by means of 3D primitives. While many approaches focus on recovering high-fidelity 3D scenes, we…

The 3D world limits the human body pose and the human body pose conveys information about the surrounding objects. Indeed, from a single image of a person placed in an indoor scene, we as humans are adept at resolving ambiguities of the…

We present a differentiable rendering framework to learn structured 3D abstractions in the form of primitive assemblies from sparse RGB images capturing a 3D object. By leveraging differentiable volume rendering, our method does not require…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

While recent deep neural networks have achieved promising results for 3D reconstruction from a single-view image, these rely on the availability of RGB textures in images and extra information as supervision. In this work, we propose novel…

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…

This paper studies the task of estimating the 3D human poses of multiple persons from multiple calibrated camera views. Following the top-down paradigm, we decompose the task into two stages, i.e. person localization and pose estimation.…

Reconstructing a 3D surface from colonoscopy video is challenging due to illumination and reflectivity variation in the video frame that can cause defective shape predictions. Aiming to overcome this challenge, we utilize the…

We present a new learning-based framework S-3D-RCNN that can recover accurate object orientation in SO(3) and simultaneously predict implicit rigid shapes from stereo RGB images. For orientation estimation, in contrast to previous studies…

Geometry Projection is a powerful depth estimation method in monocular 3D object detection. It estimates depth dependent on heights, which introduces mathematical priors into the deep model. But projection process also introduces the error…