相关论文: MobileBrick: Building LEGO for 3D Reconstruction o…
This technical report outlines the top-ranking solution for RoboSense 2025: Track 3, achieving state-of-the-art performance on 3D object detection under various sensor placements. Our submission utilizes GBlobs, a local point cloud feature…
The ultimate goal of many image-based modeling systems is to render photo-realistic novel views of a scene without visible artifacts. Existing evaluation metrics and benchmarks focus mainly on the geometric accuracy of the reconstructed…
We introduce REDO, a class-agnostic framework to REconstruct the Dynamic Objects from RGBD or calibrated videos. Compared to prior work, our problem setting is more realistic yet more challenging for three reasons: 1) due to occlusion or…
Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…
The development of large-scale 3D scene reconstruction and novel view synthesis methods mostly rely on datasets comprising perspective images with narrow fields of view (FoV). While effective for small-scale scenes, these datasets require…
Real-life man-made objects often exhibit strong and easily-identifiable structure, as a direct result of their design or their intended functionality. Structure typically appears in the form of individual parts and their arrangement.…
Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…
High-quality 3D urban reconstruction is essential for applications in urban planning, navigation, and AR/VR. However, capturing detailed ground-level data across cities is both labor-intensive and raises significant privacy concerns related…
Collecting 3D object datasets involves a large amount of manual work and is time consuming. Getting complete models of objects either requires a 3D scanner that covers all the surfaces of an object or one needs to rotate it to completely…
We present a learning-based approach to reconstruct buildings as 3D polygonal meshes from airborne LiDAR point clouds. What makes 3D building reconstruction from airborne LiDAR hard is the large diversity of building designs and especially…
In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…
Reconstructing the 3D geometry, pose, and motion of animals is a long-standing problem, which has a wide range of applications, from biology, livestock management, and animal conservation and welfare to content creation in digital…
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…
Monocular 3D building reconstruction from remote sensing imagery is essential for scalable urban modeling, yet existing methods often require task-specific architectures and intensive supervision. This paper presents the first systematic…
Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…
Numerous techniques have been proposed for reconstructing 3D models for opaque objects in past decades. However, none of them can be directly applied to transparent objects. This paper presents a fully automatic approach for reconstructing…
High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…
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…
Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…
Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…