相关论文: Automatically Annotating Indoor Images with CAD Mo…

We propose an interactive 3D character modeling approach from orthographic drawings (e.g., front and side views) based on 2D-space annotations. First, the system builds partial correspondences between the input drawings and generates a base…

Human 3D pose estimation from a single image is a challenging task with numerous applications. Convolutional Neural Networks (CNNs) have recently achieved superior performance on the task of 2D pose estimation from a single image, by…

Unsupervised object modeling is important in robotics, especially for handling a large set of objects. We present a method for unsupervised 3D object discovery, reconstruction, and localization that exploits multiple instances of an…

Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

We are interested in automatic scene understanding from geometric cues. To this end, we aim to bring semantic segmentation in the loop of real-time reconstruction. Our semantic segmentation is built on a deep autoencoder stack trained…

Recent progress in human shape learning, shows that neural implicit models are effective in generating 3D human surfaces from limited number of views, and even from a single RGB image. However, existing monocular approaches still struggle…

Deep learning-based approaches to delineating 3D structure depend on accurate annotations to train the networks. Yet, in practice, people, no matter how conscientious, have trouble precisely delineating in 3D and on a large scale, in part…

Visual Place Recognition (VPR) in indoor environments is beneficial to humans and robots for better localization and navigation. It is challenging due to appearance changes at various frequencies, and difficulties of obtaining ground truth…

We present a scheme for fast environment light estimation from the RGBD appearance of individual objects and their local image areas. Conventional inverse rendering is too computationally demanding for real-time applications, and the…

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…

This report surveys advances in deep learning-based modeling techniques that address four different 3D indoor scene analysis tasks, as well as synthesis of 3D indoor scenes. We describe different kinds of representations for indoor scenes,…

This paper contributes a novel cognitively-inspired method for RGB-D indoor scene classification. High intra-class variance and low inter-class variance make indoor scene classification an extremely challenging task. To cope with this…

We have seen significant leapfrog advancement in machine learning in recent decades. The central idea of machine learnability lies on constructing learning algorithms that learn from good data. The availability of more data being made…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

This paper addresses the problem of RGBD object recognition in real-world applications, where large amounts of annotated training data are typically unavailable. To overcome this problem, we propose a novel, weakly-supervised learning…

We present a method to edit complex indoor lighting from a single image with its predicted depth and light source segmentation masks. This is an extremely challenging problem that requires modeling complex light transport, and disentangling…