相关论文: Learning Articulated Shape with Keypoint Pseudo-la…

Systems which incrementally create 3D semantic maps from image sequences must store and update representations of both geometry and semantic entities. However, while there has been much work on the correct formulation for geometrical…

This work presents a framework for monocular 6D pose estimation of surgical instruments in open surgery, addressing challenges such as object articulations, specularity, occlusions, and synthetic-to-real domain adaptation. The proposed…

One of the fundamental challenges in supervised learning for multimodal image registration is the lack of ground-truth for voxel-level spatial correspondence. This work describes a method to infer voxel-level transformation from…

Precisely grasping and reconstructing articulated objects is key to enabling general robotic manipulation. In this paper, we propose CenterArt, a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of…

Recent work has made significant progress in learning object meshes with weak supervision. Soft Rasterization methods have achieved accurate 3D reconstruction from 2D images with viewpoint supervision only. In this work, we further reduce…

We introduce an unsupervised feature learning approach that embeds 3D shape information into a single-view image representation. The main idea is a self-supervised training objective that, given only a single 2D image, requires all unseen…

Deep convolutional neural networks are widely used in medical image segmentation but require many labeled images for training. Annotating three-dimensional medical images is a time-consuming and costly process. To overcome this limitation,…

We propose a novel approach for unsupervised 3D animation of non-rigid deformable objects. Our method learns the 3D structure and dynamics of objects solely from single-view RGB videos, and can decompose them into semantically meaningful…

3D scene understanding, e.g., point cloud semantic and instance segmentation, often requires large-scale annotated training data, but clearly, point-wise labels are too tedious to prepare. While some recent methods propose to train a 3D…

This paper describes how to obtain accurate 3D body models and texture of arbitrary people from a single, monocular video in which a person is moving. Based on a parametric body model, we present a robust processing pipeline achieving 3D…

Deep learning models usually require sufficient training data to achieve high accuracy, but obtaining labeled data can be time-consuming and labor-intensive. Here we introduce a template-based training method to train a 3D U-Net model from…

Recently many research efforts have been devoted to image annotation by leveraging on the associated tags/keywords of web images as training labels. A key issue to resolve is the relatively low accuracy of the tags. In this paper, we…

Articulated 3D reconstruction has valuable applications in various domains, yet it remains costly and demands intensive work from domain experts. Recent advancements in template-free learning methods show promising results with monocular…

We introduce KeypointDeformer, a novel unsupervised method for shape control through automatically discovered 3D keypoints. We cast this as the problem of aligning a source 3D object to a target 3D object from the same object category. Our…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

Animals are diverse in shape, but building a deformable shape model for a new species is not always possible due to the lack of 3D data. We present a method to capture new species using an articulated template and images of that species. In…

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…

Inferring object 3D position and orientation from a single RGB camera is a foundational task in computer vision with many important applications. Traditionally, 3D object detection methods are trained in a fully-supervised setup, requiring…

Constructing and animating humans is an important component for building virtual worlds in a wide variety of applications such as virtual reality or robotics testing in simulation. As there are exponentially many variations of humans with…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…