相关论文: ShAPO: Implicit Representations for Multi-Object S…

The neural implicit representation has shown its effectiveness in novel view synthesis and high-quality 3D reconstruction from multi-view images. However, most approaches focus on holistic scene representation yet ignore individual objects…

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Object-level 3D reconstruction play important roles across domains such as cultural heritage digitization, industrial manufacturing, and virtual reality. However, existing Gaussian Splatting-based approaches generally rely on full-scene…

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

We propose a novel method to reconstruct the 3D shapes of transparent objects using hand-held captured images under natural light conditions. It combines the advantage of explicit mesh and multi-layer perceptron (MLP) network, a hybrid…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

Learning a dense 3D model with fine-scale details from a single facial image is highly challenging and ill-posed. To address this problem, many approaches fit smooth geometries through facial prior while learning details as additional…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

3D pose estimation is a challenging but important task in computer vision. In this work, we show that standard deep learning approaches to 3D pose estimation are not robust when objects are partially occluded or viewed from a previously…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

We present a new end-to-end learning framework to obtain detailed and spatially coherent reconstructions of multiple people from a single image. Existing multi-person methods suffer from two main drawbacks: they are often model-based and…

Localizing objects in an unsupervised manner poses significant challenges due to the absence of key visual information such as the appearance, type and number of objects, as well as the lack of labeled object classes typically available in…

Recent learning approaches that implicitly represent surface geometry using coordinate-based neural representations have shown impressive results in the problem of multi-view 3D reconstruction. The effectiveness of these techniques is,…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…