相关论文: A real-time, hardware agnostic framework for close…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

In some entertainment and virtual reality applications, it is necessary to model and draw the real world realistically, so as to improve the fidelity of natural scenes and make users have a better sense of immersion. However, due to the…

Current methods for 3D object reconstruction from a set of planar cross-sections still struggle to capture detailed topology or require a considerable number of cross-sections. In this paper, we present, to the best of our knowledge the…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

The pattern analysis of tree structure holds significant scientific value for genetic breeding and forestry management. The current trunk and branch extraction technologies are mainly LiDAR-based or UAV-based. The former approaches obtain…

Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…

We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast…

Close-range laser scanning provides detailed 3D captures of forest stands but requires efficient software for processing 3D point cloud data and extracting individual trees. Although recent studies have introduced deep learning methods for…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Differentiable rendering is a very successful technique that applies to a Single-View 3D Reconstruction. Current renderers use losses based on pixels between a rendered image of some 3D reconstructed object and ground-truth images from…

Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…

Towards the aim of generalized robotic manipulation, spatial generalization is the most fundamental capability that requires the policy to work robustly under different spatial distribution of objects, environment and agent itself. To…

Accurate reconstruction of arbitrary-shaped long slender continuum bodies, such as guidewires, catheters and other soft continuum manipulators, is essential for accurate mechanical simulation. However, existing image-based reconstruction…

How to develop slim and accurate deep neural networks has become crucial for real- world applications, especially for those employed in embedded systems. Though previous work along this research line has shown some promising results, most…

Computer-Aided Design (CAD) plays a foundational role in modern manufacturing and product development, often requiring designers to modify or build upon existing models. Converting 3D scans into parametric CAD representations--a process…

X-ray angiography is widely used in cardiac interventions to visualize coronary vessels, assess integrity, detect stenoses and guide treatment. We propose a framework for reconstructing 3D vessel trees from biplanar X-ray images which are…

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…

Tree defect detection is crucial for the structural health screening of trees. Existing nondestructive testing (NDT) techniques for tree defect detection require time-consuming and labor-intensive measurement campaigns. This discourages…

Since high resolution remote sensing image classification often requires a relatively high computation complexity, lightweight models tend to be practical and efficient. Model pruning is an effective method for model compression. However,…

3D object reconstruction from a single-view image is a long-standing challenging problem. Previous work was difficult to accurately reconstruct 3D shapes with a complex topology which has rich details at the edges and corners. Moreover,…