相关论文: Root Pose Decomposition Towards Generic Non-rigid …

3D reconstruction of deformable (or non-rigid) scenes from a set of monocular 2D image observations is a long-standing and actively researched area of computer vision and graphics. It is an ill-posed inverse problem, since -- without…

We present PAD3R, a method for reconstructing deformable 3D objects from casually captured, unposed monocular videos. Unlike existing approaches, PAD3R handles long video sequences featuring substantial object deformation, large-scale…

3D reconstruction from 2D inputs, especially for non-rigid objects like humans, presents unique challenges due to the significant range of possible deformations. Traditional methods often struggle with non-rigid shapes, which require…

We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

Humans can learn to manipulate new objects by simply watching others; providing robots with the ability to learn from such demonstrations would enable a natural interface specifying new behaviors. This work develops Robot See Robot Do…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…

Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…

We propose an approach for reconstructing free-moving object from a monocular RGB video. Most existing methods either assume scene prior, hand pose prior, object category pose prior, or rely on local optimization with multiple sequence…

Monocular depth reconstruction of complex and dynamic scenes is a highly challenging problem. While for rigid scenes learning-based methods have been offering promising results even in unsupervised cases, there exists little to no…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

Monocular 3D object detection (M3OD) is intrinsically ill-posed, hence training a high-performance deep learning based M3OD model requires a humongous amount of labeled data with complicated visual variation from diverse scenes, variety of…

Photorealistic 3-D reconstruction from monocular video collapses in large-scale scenes when depth, pose, and radiance are solved in isolation: scale-ambiguous depth yields ghost geometry, long-horizon pose drift corrupts alignment, and a…

This paper proposes a new approach for monocular dense 3D reconstruction of a complex dynamic scene from two perspective frames. By applying superpixel over-segmentation to the image, we model a generically dynamic (hence non-rigid) scene…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

This work proposes novel hyperparameter-free losses for single view 3D reconstruction with morphable models (3DMM). We dispense with the hyperparameters used in other works by exploiting geometry, so that the shape of the object and the…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…