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

We present iNeRF, a framework that performs mesh-free pose estimation by "inverting" a Neural RadianceField (NeRF). NeRFs have been shown to be remarkably effective for the task of view synthesis - synthesizing photorealistic novel views of…

Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…

3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Accurate modelling and quantification of predictive uncertainty is crucial in deep learning since it allows a model to make safer decisions when the data is ambiguous and facilitates the users' understanding of the model's confidence in its…

In this work, we introduce Deep Bingham Networks (DBN), a generic framework that can naturally handle pose-related uncertainties and ambiguities arising in almost all real life applications concerning 3D data. While existing works strive to…

The goal of many computer vision systems is to transform image pixels into 3D representations. Recent popular models use neural networks to regress directly from pixels to 3D object parameters. Such an approach works well when supervision…

This paper explores the capabilities of convolutional neural networks to deal with a task that is easily manageable for humans: perceiving 3D pose of a human body from varying angles. However, in our approach, we are restricted to using a…

Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the-art approaches in 6D object pose estimation use…

6D pose estimation of rigid objects is a long-standing and challenging task in computer vision. Recently, the emergence of deep learning reveals the potential of Convolutional Neural Networks (CNNs) to predict reliable 6D poses. Given that…

One of the fundamental problems in computer vision is image segmentation, the task of detecting distinct regions or objects in given images. Deep Neural Networks (DNN) have been shown to be very effective in segmenting challenging images,…

While pre-trained image autoencoders are increasingly utilized in computer vision, the application of inverse graphics in 2D latent spaces has been under-explored. Yet, besides reducing the training and rendering complexity, applying…

Current 6D object pose methods consist of deep CNN models fully optimized for a single object but with its architecture standardized among objects with different shapes. In contrast to previous works, we explicitly exploit each object's…

3D human pose estimation from a monocular image or 2D joints is an ill-posed problem because of depth ambiguity and occluded joints. We argue that 3D human pose estimation from a monocular input is an inverse problem where multiple feasible…

Human pose estimation (i.e., locating the body parts / joints of a person) is a fundamental problem in human-computer interaction and multimedia applications. Significant progress has been made based on the development of depth sensors,…

Establishing robust and accurate correspondences between a pair of images is a long-standing computer vision problem with numerous applications. While classically dominated by sparse methods, emerging dense approaches offer a compelling…

Rendering bridges the gap between 2D vision and 3D scenes by simulating the physical process of image formation. By inverting such renderer, one can think of a learning approach to infer 3D information from 2D images. However, standard…

Many machine learning methods operate by inverting a neural network at inference time, which has become a popular technique for solving inverse problems in computer vision, robotics, and graphics. However, these methods often involve…

We propose a unified formulation for the problem of 3D human pose estimation from a single raw RGB image that reasons jointly about 2D joint estimation and 3D pose reconstruction to improve both tasks. We take an integrated approach that…

3D human pose estimation from monocular images is a highly ill-posed problem due to depth ambiguities and occlusions. Nonetheless, most existing works ignore these ambiguities and only estimate a single solution. In contrast, we generate a…