相关论文: Leveraging SE(3) Equivariance for Learning 3D Geom…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…

Scalable 6D pose estimation for rigid objects from RGB images aims at handling multiple objects and generalizing to novel objects. Building on a well-known auto-encoding framework to cope with object symmetry and the lack of labeled…

Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistency constraints. Recent learning-based methods have…

Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that human perception operates at higher levels and interprets 3D…

Automating the assembly of objects from their parts is a complex problem with innumerable applications in manufacturing, maintenance, and recycling. Unlike existing research, which is limited to target segmentation, pose regression, or…

Given a pair of point clouds, the goal of assembly is to recover a rigid transformation that aligns one point cloud to the other. This task is challenging because the point clouds may be non-overlapped, and they may have arbitrary initial…

We introduce a general method for learning representations that are equivariant to symmetries of data. Our central idea is to decompose the latent space into an invariant factor and the symmetry group itself. The components semantically…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

The goal of self-supervised visual representation learning is to learn strong, transferable image representations, with the majority of research focusing on object or scene level. On the other hand, representation learning at part level has…

Object parts serve as crucial intermediate representations in various downstream tasks, but part-level representation learning still has not received as much attention as other vision tasks. Previous research has established that Vision…

We present two novel solutions for multi-view 3D human pose estimation based on new learnable triangulation methods that combine 3D information from multiple 2D views. The first (baseline) solution is a basic differentiable algebraic…

Is it possible to learn policies for robotic assembly that can generalize to new objects? We explore this idea in the context of the kit assembly task. Since classic methods rely heavily on object pose estimation, they often struggle to…

3D image segmentation plays an important role in biomedical image analysis. Many 2D and 3D deep learning models have achieved state-of-the-art segmentation performance on 3D biomedical image datasets. Yet, 2D and 3D models have their own…

Towards holistic understanding of 3D scenes, a general 3D segmentation method is needed that can segment diverse objects without restrictions on object quantity or categories, while also reflecting the inherent hierarchical structure. To…

Simplifying complex 3D meshes is a crucial step in robotics applications to enable efficient motion planning and physics simulation. Common methods, such as approximate convex decomposition, represent a mesh as a collection of simple parts,…

Manipulating objects with varying geometries and deformable objects is a major challenge in robotics. Tasks such as insertion with different objects or cloth hanging require precise control and effective modelling of complex dynamics. In…

The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…

We propose a method to learn object representations from 3D point clouds using bundles of geometrically interpretable hidden units, which we call geometric capsules. Each geometric capsule represents a visual entity, such as an object or a…

We introduce the SE(3)-Transformer, a variant of the self-attention module for 3D point clouds and graphs, which is equivariant under continuous 3D roto-translations. Equivariance is important to ensure stable and predictable performance in…