相关论文: Source-free Depth for Object Pop-out

The abstraction of 3D objects with simple geometric primitives like cuboids allows to infer structural information from complex geometry. It is important for 3D shape understanding, structural analysis and geometric modeling. We introduce a…

Human perception of 3D shapes goes beyond reconstructing them as a set of points or a composition of geometric primitives: we also effortlessly understand higher-level shape structure such as the repetition and reflective symmetry of object…

Recent works have demonstrated the importance of object completion in 3D Perception from Lidar signal. Several methods have been proposed in which modules were used to densify the point clouds produced by laser scanners, leading to better…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Multi-view image diffusion models have significantly advanced open-domain 3D object generation. However, most existing models rely on 2D network architectures that lack inherent 3D biases, resulting in compromised geometric consistency. To…

The task of shape abstraction with semantic part consistency is challenging due to the complex geometries of natural objects. Recent methods learn to represent an object shape using a set of simple primitives to fit the target.…

Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging task because cameras only capture partial observations of objects, especially when occlusion occurs. In this paper, we leverage two extra…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

We address the problem of discovering 3D parts for objects in unseen categories. Being able to learn the geometry prior of parts and transfer this prior to unseen categories pose fundamental challenges on data-driven shape segmentation…

Due to the optical properties, transparent objects often lead depth cameras to generate incomplete or invalid depth data, which in turn reduces the accuracy and reliability of robotic grasping. Existing approaches typically input the RGB-D…

When interacting in a three dimensional world, humans must estimate 3D structure from visual inputs projected down to two dimensional retinal images. It has been shown that humans use the persistence of object shape over motion-induced…

In this paper, we demonstrate that CLIP can also be adapted to downstream tasks where its vision-language alignment is suboptimally learned during pre-training on web-crawled data, all without requiring fine-tuning. We explore the case of…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

Indoor 3D object detection is an essential task in single image scene understanding, impacting spatial cognition fundamentally in visual reasoning. Existing works on 3D object detection from a single image either pursue this goal through…

Despite the success of deep learning in close-set 3D object detection, existing approaches struggle with zero-shot generalization to novel objects and camera configurations. We introduce DetAny3D, a promptable 3D detection foundation model…

Understanding 3D objects from images is fundamental to robotics and AR/VR applications. While recent work has made progress in category-level pose estimation, current representations fail to capture the fine-grained semantics needed for…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…