相关论文: Iterative Superquadric Recomposition of 3D Objects…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

Several image pattern recognition tasks rely on superpixel generation as a fundamental step. Image analysis based on superpixels facilitates domain-specific applications, also speeding up the overall processing time of the task. Recent…

We present CARTO, a novel approach for reconstructing multiple articulated objects from a single stereo RGB observation. We use implicit object-centric representations and learn a single geometry and articulation decoder for multiple object…

We propose CrossHuman, a novel method that learns cross-guidance from parametric human model and multi-frame RGB images to achieve high-quality 3D human reconstruction. To recover geometry details and texture even in invisible regions, we…

Learning automatically the structure of object categories remains an important open problem in computer vision. In this paper, we propose a novel unsupervised approach that can discover and learn landmarks in object categories, thus…

Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…

Reasoning 3D shapes from 2D images is an essential yet challenging task, especially when only single-view images are at our disposal. While an object can have a complicated shape, individual parts are usually close to geometric primitives…

We propose a method for the unsupervised reconstruction of a temporally-coherent sequence of surfaces from a sequence of time-evolving point clouds, yielding dense, semantically meaningful correspondences between all keyframes. We represent…

This paper presents a weakly-supervised approach to object instance segmentation. Starting with known or predicted object bounding boxes, we learn object masks by playing a game of cut-and-paste in an adversarial learning setup. A mask…

Self-supervised multi-object trackers have tremendous potential as they enable learning from raw domain-specific data. However, their re-identification accuracy still falls short compared to their supervised counterparts. We hypothesize…

We consider the problem of segmenting an image into superpixels in the context of $k$-means clustering, in which we wish to decompose an image into local, homogeneous regions corresponding to the underlying objects. Our novel approach…

We propose a novel method for 3D object reconstruction from a sparse set of views captured from a 360-degree calibrated camera rig. We represent the object surface through a hybrid model that uses both an MLP-based neural representation and…

Accurate object rearrangement from vision is a crucial problem for a wide variety of real-world robotics applications in unstructured environments. We propose IFOR, Iterative Flow Minimization for Robotic Object Rearrangement, an end-to-end…

In this paper, we propose a novel architecture that iteratively discovers and segments out the objects of a scene based on the image reconstruction quality. Different from other approaches, our model uses an explicit localization module…

The goal of this work is to segment the objects in an image that are referred to by a sequence of linguistic descriptions (referring expressions). We propose a deep neural network with recurrent layers that output a sequence of binary…

This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…

Image-to-3D models increasingly rely on hierarchical generation to disentangle geometry and texture. However, the design choices underlying these two-stage models--particularly the optimal choice of intermediate geometric…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

Large vision models based in deep learning architectures have been consistently advancing the state-of-the-art in biometric recognition. However, three weaknesses are commonly reported for such kind of approaches: 1) their extreme demands…

We present SIMCO, the first agnostic multi-class object counting approach. SIMCO starts by detecting foreground objects through a novel Mask RCNN-based architecture trained beforehand (just once) on a brand-new synthetic 2D shape dataset,…