相关论文: RiCS: A 2D Self-Occlusion Map for Harmonizing Volu…

A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…

This paper addresses key challenges in object-centric representation learning of video. While existing approaches struggle with complex scenes, we propose a novel weakly-supervised framework that emphasises geometric understanding and…

3D scene understanding from single images is a pivotal problem in computer vision with numerous downstream applications in graphics, augmented reality, and robotics. While diffusion-based modeling approaches have shown promise, they often…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

The task of vision-based 3D occupancy prediction aims to reconstruct 3D geometry and estimate its semantic classes from 2D color images, where the 2D-to-3D view transformation is an indispensable step. Most previous methods conduct forward…

Real-world geometry and 3D vision tasks are replete with challenging symmetries that defy tractable analytical expression. In this paper, we introduce Neural Isometries, an autoencoder framework which learns to map the observation space to…

Occlusion in face recognition is a common yet challenging problem. While sparse representation based classification (SRC) has been shown promising performance in laboratory conditions (i.e. noiseless or random pixel corrupted), it performs…

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…

For a foreground object in motion, details of its background which would otherwise be hidden are uncovered through its inner blur. This paper presents a novel hybrid motion blur rendering technique combining post-process image filtering and…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

To effectively apply robots in working environments and assist humans, it is essential to develop and evaluate how visual grounding (VG) can affect machine performance on occluded objects. However, current VG works are limited in working…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Occluded traffic agents pose a significant challenge for autonomous vehicles, as hidden pedestrians or vehicles can appear unexpectedly, yet this problem remains understudied. Existing learning-based methods, while capable of inferring the…

Magnetic Resonance Imaging (MRI) is one of the most dynamic and safe imaging techniques available for clinical applications. However, the rather slow speed of MRI acquisitions limits the patient throughput and potential indi cations.…

Severe occlusions of objects pose a major challenge for computer vision. We show that two root causes are (1) the loss of visible information and (2) the distracting patterns caused by the occluders. Our approach addresses both causes at…

A long-standing challenge in scene analysis is the recovery of scene arrangements under moderate to heavy occlusion, directly from monocular video. While the problem remains a subject of active research, concurrent advances have been made…

Transparent objects are a very challenging problem in computer vision. They are hard to segment or classify due to their lack of precise boundaries, and there is limited data available for training deep neural networks. As such, current…