相关论文: Clutter Detection and Removal in 3D Scenes with Vi…

To get clear street-view and photo-realistic simulation in autonomous driving, we present an automatic video inpainting algorithm that can remove traffic agents from videos and synthesize missing regions with the guidance of depth/point…

3D instance segmentation is fundamental to geometric understanding of the world around us. Existing methods for instance segmentation of 3D scenes rely on supervision from expensive, manual 3D annotations. We propose UnScene3D, the first…

Sketch segmentation involves grouping pixels within a sketch that belong to the same object or instance. It serves as a valuable tool for sketch editing tasks, such as moving, scaling, or removing specific components. While image…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Semantic reconstruction of indoor scenes refers to both scene understanding and object reconstruction. Existing works either address one part of this problem or focus on independent objects. In this paper, we bridge the gap between…

Neural Radiance Fields (NeRFs) have emerged as a popular approach for novel view synthesis. While NeRFs are quickly being adapted for a wider set of applications, intuitively editing NeRF scenes is still an open challenge. One important…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

This paper presents a novel approach to inpainting 3D regions of a scene, given masked multi-view images, by distilling a 2D diffusion model into a learned 3D scene representation (e.g. a NeRF). Unlike 3D generative methods that explicitly…

The techniques for 3D indoor scene capturing are widely used, but the meshes produced leave much to be desired. In this paper, we propose "RoomDreamer", which leverages powerful natural language to synthesize a new room with a different…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

We consider the problem of filling in missing spatio-temporal regions of a video. We provide a novel flow-based solution by introducing a generative model of images in relation to the scene (without missing regions) and mappings from the…

Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Deep image inpainting has made impressive progress with recent advances in image generation and processing algorithms. We claim that the performance of inpainting algorithms can be better judged by the generated structures and textures.…

Reconstructing and processing the 3D objects are popular activities in the research field of computer graphics, image processing and computer vision. The 3D objects are processed based on the methods like geometric modeling, a branch of…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

We propose an automatic video inpainting algorithm which relies on the optimisation of a global, patch-based functional. Our algorithm is able to deal with a variety of challenging situations which naturally arise in video inpainting, such…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…