相关论文: Parcel3D: Shape Reconstruction from Single RGB Ima…

Single-image room layout reconstruction aims to reconstruct the enclosed 3D structure of a room from a single image. Most previous work relies on the cuboid-shape prior. This paper considers a more general indoor assumption, i.e., the room…

While recent advances in object suction grasping have shown remarkable progress, significant challenges persist particularly in cluttered and complex parcel handling scenarios. Two fundamental limitations hinder current approaches: (1) the…

We propose a transformer-based neural network architecture for multi-object 3D reconstruction from RGB videos. It relies on two alternative ways to represent its knowledge: as a global 3D grid of features and an array of view-specific 2D…

Dispatching and receiving logistics goods, as well as transportation itself, involve a high amount of manual efforts. The transported goods, including their packaging and labeling, need to be double-checked, verified or recognized at many…

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…

Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…

We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…

We introduce ShapeCodeBench, a synthetic benchmark for perception-to-program reconstruction: given a rendered raster image, a model must emit an executable drawing program that a deterministic evaluator re-renders and compares with the…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…

While recent deep neural networks have achieved promising results for 3D reconstruction from a single-view image, these rely on the availability of RGB textures in images and extra information as supervision. In this work, we propose novel…

Accurately predicting the 3D shape of any arbitrary object in any pose from a single image is a key goal of computer vision research. This is challenging as it requires a model to learn a representation that can infer both the visible and…

We study 3D shape modeling from a single image and make contributions to it in three aspects. First, we present Pix3D, a large-scale benchmark of diverse image-shape pairs with pixel-level 2D-3D alignment. Pix3D has wide applications in…

A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…

Three-dimensional (3D) reconstruction of ships is an important part of maritime monitoring, allowing improved visualization, inspection, and decision-making in real-world monitoring environments. However, most state-ofthe-art 3D…

3D shape reconstruction is essential in the navigation of minimally-invasive and auto robot-guided surgeries whose operating environments are indirect and narrow, and there have been some works that focused on reconstructing the 3D shape of…

Recovering high-quality 3D scenes from a single RGB image is a challenging task in computer graphics. Current methods often struggle with domain-specific limitations or low-quality object generation. To address these, we propose CAST…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…