相关论文: Towards Panoptic 3D Parsing for Single Image in th…

Operating a robot in the open world requires a high level of robustness with respect to previously unseen environments. Optimally, the robot is able to adapt by itself to new conditions without human supervision, e.g., automatically…

The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

In this paper, we present ViP-DeepLab, a unified model attempting to tackle the long-standing and challenging inverse projection problem in vision, which we model as restoring the point clouds from perspective image sequences while…

This paper addresses the task of estimating the light arriving from all directions to a 3D point observed at a selected pixel in an RGB image. This task is challenging because it requires predicting a mapping from a partial scene…

We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…

This paper studies single-image depth perception in the wild, i.e., recovering depth from a single image taken in unconstrained settings. We introduce a new dataset "Depth in the Wild" consisting of images in the wild annotated with…

Current compositional image-to-3D scene generation approaches construct 3D scenes by time-consuming iterative layout optimization or inflexible joint object-layout generation. Moreover, most methods rely on limited field-of-view perspective…

In this work we introduce a novel, CNN-based architecture that can be trained end-to-end to deliver seamless scene segmentation results. Our goal is to predict consistent semantic segmentation and detection results by means of a panoptic…

We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…

We present 3DP3, a framework for inverse graphics that uses inference in a structured generative model of objects, scenes, and images. 3DP3 uses (i) voxel models to represent the 3D shape of objects, (ii) hierarchical scene graphs to…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

Monocular depth reconstruction of complex and dynamic scenes is a highly challenging problem. While for rigid scenes learning-based methods have been offering promising results even in unsupervised cases, there exists little to no…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

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…

This paper addresses the problem of simultaneous 3D reconstruction and material recognition and segmentation. Enabling robots to recognise different materials (concrete, metal etc.) in a scene is important for many tasks, e.g. robotic…

Depth estimation and 3D object detection are critical for scene understanding but remain challenging to perform with a single image due to the loss of 3D information during image capture. Recent models using deep neural networks have…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…