相关论文: Image to Icosahedral Projection for $\mathrm{SO}(3…

While object semantic understanding is essential for most service robotic tasks, 3D object classification is still an open problem. Learning from artificial 3D models alleviates the cost of annotation necessary to approach this problem, but…

We address the task of multi-view image-to-image translation for person image generation. The goal is to synthesize photo-realistic multi-view images with pose-consistency across all views. Our proposed end-to-end framework is based on a…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

The goal of this paper is to compare surface-based and volumetric 3D object shape representations, as well as viewer-centered and object-centered reference frames for single-view 3D shape prediction. We propose a new algorithm for…

Learning neural implicit fields of 3D shapes is a rapidly emerging field that enables shape representation at arbitrary resolutions. Due to the flexibility, neural implicit fields have succeeded in many research areas, including shape…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

Learning representations through deep generative modeling is a powerful approach for dynamical modeling to discover the most simplified and compressed underlying description of the data, to then use it for other tasks such as prediction.…

Applying convolutional neural networks to spherical images requires particular considerations. We look to the millennia of work on cartographic map projections to provide the tools to define an optimal representation of spherical images for…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

While widespread, Transformers lack inductive biases for geometric symmetries common in science and computer vision. Existing equivariant methods often sacrifice the efficiency and flexibility that make Transformers so effective through…

We propose a method for 3D shape reconstruction from unoriented point clouds. Our method consists of a novel SE(3)-equivariant coordinate-based network (TF-ONet), that parametrizes the occupancy field of the shape and respects the inherent…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…

Learning self-supervised representations that are invariant and equivariant to transformations is crucial for advancing beyond traditional visual classification tasks. However, many methods rely on predictor architectures to encode…

3D reconstruction of medical imaging from 2D images has become an increasingly interesting topic with the development of deep learning models in recent years. Previous studies in 3D reconstruction from limited X-ray images mainly rely on…

This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…

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…

Orientation learning plays a pivotal role in many tasks. However, the rotation group SO(3) is a Riemannian manifold. As a result, the distortion caused by non-Euclidean geometric nature introduces difficulties to the incorporation of local…

We present a framework to translate between 2D image views and 3D object shapes. Recent progress in deep learning enabled us to learn structure-aware representations from a scene. However, the existing literature assumes that pairs of…

A wide range of system models in modern robotics and avionics applications admit natural symmetries. Such systems are termed equivariant and the structure provided by the symmetry is a powerful tool in the design of observers. Significant…

Object-centric scene understanding is a fundamental challenge in computer vision. Existing approaches often rely on multi-stage pipelines that first apply pre-trained segmentors to extract individual objects, followed by per-object 3D…