相关论文: Predicting 3D shapes, masks, and properties of mat…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications. To support this, we introduce MatPredict, a dataset that…

Estimating the geometric and volumetric properties of transparent deformable liquids is challenging due to optical complexities and dynamic surface deformations induced by container movements. Autonomous robots performing precise liquid…

Transparent objects remain notoriously hard for perception systems: refraction, reflection and transmission break the assumptions behind stereo, ToF and purely discriminative monocular depth, causing holes and temporally unstable estimates.…

3D Gaussian Splatting (3DGS) has emerged as a powerful and efficient 3D representation for novel view synthesis. This paper extends 3DGS capabilities to inpainting, where masked objects in a scene are replaced with new contents that blend…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

We present an algorithm that learns a coarse 3D representation of objects from unposed multi-view 2D mask supervision, then uses it to generate detailed mask and image texture. In contrast to existing voxel-based methods for unposed object…

Accurate 3D reconstruction of objects with reflective, transparent, or low-texture surfaces still remains notoriously challenging. Such materials often violate key assumptions in multi-view reconstruction pipelines, such as photometric…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

Permeability is a central concept in the macroscopic description of flow through porous media, with applications spanning from oil recovery to hydrology. Traditional methods for determining the permeability tensor involving flow simulations…

Visual recognition of material boundaries in transparent vessels is valuable for numerous applications. Such recognition is essential for estimation of fill-level, volume and phase-boundaries as well as for tracking of such chemical…

Visual recognition of materials and their states is essential for understanding most aspects of the world, from determining whether food is cooked, metal is rusted, or a chemical reaction has occurred. However, current image recognition…

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…

The challenge of graphically rendering high frame-rate videos on low compute devices can be addressed through periodic prediction of future frames to enhance the user experience in virtual reality applications. This is studied through the…

Human perception and understanding is a major domain of computer vision which, like many other vision subdomains recently, stands to gain from the use of large models pre-trained on large datasets. We hypothesize that the most common…

We present a method that tackles the challenge of predicting color and depth behind the visible content of an image. Our approach aims at building up a Layered Depth Image (LDI) from a single RGB input, which is an efficient representation…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Transparent objects such as windows and bottles made by glass widely exist in the real world. Segmenting transparent objects is challenging because these objects have diverse appearance inherited from the image background, making them had…

Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth information loss when manipulating transparent objects. To solve this problem, this paper proposes TransDex, a 3D visuo-tactile…

Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…