相关论文: 3D Neural Embedding Likelihood: Probabilistic Inve…

We present 3DP3, a framework for inverse graphics that uses inference in a structured generative model of objects, scenes, and images. 3DP3 uses (i) voxel models to represent the 3D shape of objects, (ii) hierarchical scene graphs to…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

Recently, multiple formulations of vision problems as probabilistic inversions of generative models based on computer graphics have been proposed. However, applications to 3D perception from natural images have focused on low-dimensional…

The goal of this work is to replace objects in an RGB-D scene with corresponding 3D models from a library. We approach this problem by first detecting and segmenting object instances in the scene using the approach from Gupta et al. [13].…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Popular research areas like autonomous driving and augmented reality have renewed the interest in image-based camera localization. In this work, we address the task of predicting the 6D camera pose from a single RGB image in a given 3D…

We consider the problem of category-level 6D pose estimation from a single RGB image. Our approach represents an object category as a cuboid mesh and learns a generative model of the neural feature activations at each mesh vertex to perform…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Synthesizing photo-realistic images and videos is at the heart of computer graphics and has been the focus of decades of research. Traditionally, synthetic images of a scene are generated using rendering algorithms such as rasterization or…

3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

3D pose estimation is a key component of many important computer vision tasks such as autonomous navigation and 3D scene understanding. Most state-of-the-art approaches to 3D pose estimation solve this problem as a pose-classification…

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects.…

Neural rendering is a new image and video generation method based on deep learning. It combines the deep learning model with the physical knowledge of computer graphics, to obtain a controllable and realistic scene model, and realize the…

This paper presents a framework that combines traditional keypoint-based camera pose optimization with an invertible neural rendering mechanism. Our proposed 3D scene representation, Nerfels, is locally dense yet globally sparse. As opposed…

Today, most methods for image understanding tasks rely on feed-forward neural networks. While this approach has allowed for empirical accuracy, efficiency, and task adaptation via fine-tuning, it also comes with fundamental disadvantages.…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

In recent years, deep generative models have gained significance due to their ability to synthesize natural-looking images with applications ranging from virtual reality to data augmentation for training computer vision models. While…

We introduce an improved solution to the neural image-based rendering problem in computer vision. Given a set of images taken from a freely moving camera at train time, the proposed approach could synthesize a realistic image of the scene…