相关论文: Point Cloud Scene Completion with Joint Color and …

We present a deep reinforcement learning method of progressive view inpainting for 3D point scene completion under volume guidance, achieving high-quality scene reconstruction from only a single depth image with severe occlusion. Our…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data…

3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…

Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…

One major challenge in 3D reconstruction is to infer the complete shape geometry from partial foreground occlusions. In this paper, we propose a method to reconstruct the complete 3D shape of an object from a single RGB image, with…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

In this paper, we propose a pipeline to generate 3D point cloud of an object from a single-view RGB image. Most previous work predict the 3D point coordinates from single RGB images directly. We decompose this problem into depth estimation…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Semantic scene completion is the task of producing a complete 3D voxel representation of volumetric occupancy with semantic labels for a scene from a single-view observation. We built upon the recent work of Song et al. (CVPR 2017), who…

Inferring the 3D geometry and the semantic meaning of surfaces, which are occluded, is a very challenging task. Recently, a first end-to-end learning approach has been proposed that completes a scene from a single depth image. The approach…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

We propose a novel online, point-based 3D reconstruction method from posed monocular RGB videos. Our model maintains a global point cloud representation of the scene, continuously updating the features and 3D locations of points as new…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…