相关论文: LASSIE: Learning Articulated Shapes from Sparse Im…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Simulation is essential for autonomous driving, yet current frameworks often model vehicles as rigid assets and fail to capture part-level articulation. With perception algorithms increasingly leveraging dynamics such as wheel steering or…

Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…

The goal of many computer vision systems is to transform image pixels into 3D representations. Recent popular models use neural networks to regress directly from pixels to 3D object parameters. Such an approach works well when supervision…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

The ability to estimate the 3D human shape and pose from images can be useful in many contexts. Recent approaches have explored using graph convolutional networks and achieved promising results. The fact that the 3D shape is represented by…

Comprehending natural language instructions is a critical skill for robots to cooperate effectively with humans. In this paper, we aim to learn 6D poses for roboticassembly by natural language instructions. For this purpose,…

The availability of the large-scale labeled 3D poses in the Human3.6M dataset plays an important role in advancing the algorithms for 3D human pose estimation from a still image. We observe that recent innovation in this area mainly focuses…

Monocular object pose estimation, as a pivotal task in computer vision and robotics, heavily depends on accurate 2D-3D correspondences, which often demand costly CAD models that may not be readily available. Object 3D reconstruction methods…

3D image segmentation plays an important role in biomedical image analysis. Many 2D and 3D deep learning models have achieved state-of-the-art segmentation performance on 3D biomedical image datasets. Yet, 2D and 3D models have their own…

This paper shows that it is possible to learn models for monocular 3D reconstruction of articulated objects (e.g., horses, cows, sheep), using as few as 50-150 images labeled with 2D keypoints. Our proposed approach involves training…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

Despite significant progress in single image-based 3D human mesh recovery, accurately and smoothly recovering 3D human motion from a video remains challenging. Existing video-based methods generally recover human mesh by estimating the…

The misaligned human texture across different human parts is one of the main limitations of existing 3D human reconstruction methods. Each human part, such as a jacket or pants, should maintain a distinct texture without blending into…

Recently, remarkable advances have been achieved in 3D human pose estimation from monocular images because of the powerful Deep Convolutional Neural Networks (DCNNs). Despite their success on large-scale datasets collected in the…

We propose an unsupervised method for parsing large 3D scans of real-world scenes with easily-interpretable shapes. This work aims to provide a practical tool for analyzing 3D scenes in the context of aerial surveying and mapping, without…

For visual manipulation tasks, we aim to represent image content with semantically meaningful features. However, learning implicit representations from images often lacks interpretability, especially when attributes are intertwined. We…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

We propose a technique for learning single-view 3D object pose estimation models by utilizing a new source of data -- in-the-wild videos where objects turn. Such videos are prevalent in practice (e.g., cars in roundabouts, airplanes near…

Inter-object relations underpin spatial intelligence, yet existing representations -- linguistic prepositions or object-level scene graphs -- are too coarse to specify which regions actually support, contain, or contact one another, leading…