相关论文: ROCA: Robust CAD Model Retrieval and Alignment fro…

Recent breakthroughs in Neural Radiance Fields (NeRFs) have sparked significant demand for their integration into real-world 3D applications. However, the varied functionalities required by different 3D applications often necessitate…

Real-world face detection and alignment demand an advanced discriminative model to address challenges by pose, lighting and expression. Illuminated by the deep learning algorithm, some convolutional neural networks based face detection and…

Causal effect estimation from observational data requires careful adjustment for confounding. Classical estimators such as inverse probability weighting and augmented inverse probability weighting are effective under favorable model…

Dense 3D shape correspondence remains a central challenge in computer vision and graphics as many deep learning approaches still rely on intermediate geometric features or handcrafted descriptors, limiting their effectiveness under…

Reconstructing 3D objects from a single image remains challenging, especially under real-world occlusions. While recent diffusion-based view synthesis models can generate consistent novel views from a single RGB image, they typically assume…

We propose a single-shot approach to determining 6-DoF pose of an object with available 3D computer-aided design (CAD) model from a single RGB image. Our method, dubbed MRC-Net, comprises two stages. The first performs pose classification…

3D reconstruction from 2D images is a central problem in computer vision. Recent works have been focusing on reconstruction directly from a single image. It is well known however that only one image cannot provide enough information for…

We design algorithms for Robust Principal Component Analysis (RPCA) which consists in decomposing a matrix into the sum of a low rank matrix and a sparse matrix. We propose a deep unrolled algorithm based on an accelerated alternating…

Recently, 3D object detection algorithms based on radar and camera fusion have shown excellent performance, setting the stage for their application in autonomous driving perception tasks. Existing methods have focused on dealing with…

This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural…

Compositional reasoning is a hallmark of human visual intelligence. Yet, despite the size of large vision-language models, they struggle to represent simple compositions by combining objects with their attributes. To measure this lack of…

This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…

Unsupervised domain adaptive (UDA) image segmentation has recently gained increasing attention, aiming to improve the generalization capability for transferring knowledge from the source domain to the target domain. However, in high spatial…

State-of-the-art techniques for 3D reconstruction are largely based on volumetric scene representations, which require sampling multiple points to compute the color arriving along a ray. Using these representations for more general inverse…

Single-image-to-3D models typically follow a sequential generation and reconstruction workflow. However, intermediate multi-view images synthesized by pre-trained generation models often lack cross-view consistency (CVC), significantly…

In this paper we present a novel randomized block coordinate descent method for the minimization of a convex composite objective function. The method uses (approximate) partial second-order (curvature) information, so that the algorithm…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

Robust high-dimensional data processing has witnessed an exciting development in recent years, as theoretical results have shown that it is possible using convex programming to optimize data fit to a low-rank component plus a sparse outlier…

We propose to recover 3D shape structures from single RGB images, where structure refers to shape parts represented by cuboids and part relations encompassing connectivity and symmetry. Given a single 2D image with an object depicted, our…

Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…