相关论文: SE(3)-Equivariant Relational Rearrangement with Ne…

We introduce AutoRF - a new approach for learning neural 3D object representations where each object in the training set is observed by only a single view. This setting is in stark contrast to the majority of existing works that leverage…

We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…

Modeling hand-object interactions is a fundamentally challenging task in 3D computer vision. Despite remarkable progress that has been achieved in this field, existing methods still fail to synthesize the hand-object interaction…

Neural fields have revolutionized the area of 3D reconstruction and novel view synthesis of rigid scenes. A key challenge in making such methods applicable to articulated objects, such as the human body, is to model the deformation of 3D…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…

Learning to autonomously assemble shapes is a crucial skill for many robotic applications. While the majority of existing part assembly methods focus on correctly posing semantic parts to recreate a whole object, we interpret assembly more…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

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…

Registering point clouds of dressed humans to parametric human models is a challenging task in computer vision. Traditional approaches often rely on heavily engineered pipelines that require accurate manual initialization of human poses and…

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…

Neural Ordinary Differential Equations (NODEs) often struggle to adapt to new dynamic behaviors caused by parameter changes in the underlying physical system, even when these dynamics are similar to previously observed behaviors. This…

The success of neural fields for 3D vision tasks is now indisputable. Following this trend, several methods aiming for visual localization (e.g., SLAM) have been proposed to estimate distance or density fields using neural fields. However,…

Many computer vision tasks address the problem of scene understanding and are naturally interrelated e.g. object classification, detection, scene segmentation, depth estimation, etc. We show that we can leverage the inherent relationships…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Traditional Scene Understanding problems such as Object Detection and Semantic Segmentation have made breakthroughs in recent years due to the adoption of deep learning. However, the former task is not able to localise objects at a pixel…

We present Neural Feature Fusion Fields (N3F), a method that improves dense 2D image feature extractors when the latter are applied to the analysis of multiple images reconstructible as a 3D scene. Given an image feature extractor, for…