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

3D shape reconstruction from a single image is a highly ill-posed problem. Modern deep learning based systems try to solve this problem by learning an end-to-end mapping from image to shape via a deep network. In this paper, we aim to solve…

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D…

This work provides an architecture to enable robotic grasp planning via shape completion. Shape completion is accomplished through the use of a 3D convolutional neural network (CNN). The network is trained on our own new open source dataset…

Reconstruction of the shape and motion of humans from RGB-D is a challenging problem, receiving much attention in recent years. Recent approaches for full-body reconstruction use a statistic shape model, which is built upon accurate…

Reconstructing texture-less surfaces poses unique challenges in computer vision, primarily due to the lack of specialized datasets that cater to the nuanced needs of depth and normals estimation in the absence of textural information. We…

Remanufacturing describes a process where worn products are restored to like-new condition and it offers vast ecological and economic potentials. A key step is the quality inspection of disassembled components, which is mostly done manually…

Most state-of-the-art deep geometric learning single-view reconstruction approaches rely on encoder-decoder architectures that output either shape parametrizations or implicit representations. However, these representations rarely preserve…

We introduce CurveFusion, the first approach for high quality scanning of thin structures at interactive rates using a handheld RGBD camera. Thin filament-like structures are mathematically just 1D curves embedded in R^3, and…

We present a novel end-to-end framework named as GSNet (Geometric and Scene-aware Network), which jointly estimates 6DoF poses and reconstructs detailed 3D car shapes from single urban street view. GSNet utilizes a unique four-way feature…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…

In this paper, we present a method of clothes retargeting; generating the potential poses and deformations of a given 3D clothing template model to fit onto a person in a single RGB image. The problem is fundamentally ill-posed as attaining…

This work tackles 3D scene reconstruction for a video fly-over perspective problem in the maritime domain, with a specific emphasis on geometrically and visually sound reconstructions. This will allow for downstream tasks such as…

We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…

With the growing popularity of neural rendering, there has been an increasing number of neural implicit multi-view reconstruction methods. While many models have been enhanced in terms of positional encoding, sampling, rendering, and other…

Accurate 3D reconstruction of objects with reflective, transparent, or low-texture surfaces still remains notoriously challenging. Such materials often violate key assumptions in multi-view reconstruction pipelines, such as photometric…

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…

This work presents a novel Convolutional Neural Network (CNN) architecture and a training procedure to enable robust and accurate pose estimation of a noncooperative spacecraft. First, a new CNN architecture is introduced that has scored a…

Segmentation of unseen industrial parts is essential for autonomous industrial systems. However, industrial components are texture-less, reflective, and often found in cluttered and unstructured environments with heavy occlusion, which…