相关论文: Multi-task Planar Reconstruction with Feature Warp…

3D Gaussian Splatting (GS) enables fast and high-quality scene reconstruction, but it lacks an object-consistent and semantically aware structure. We propose Split&Splat, a framework for panoptic scene reconstruction using 3DGS. Our…

Generalizable 3D Gaussian Splatting reconstruction showcases advanced Image-to-3D content creation but requires substantial computational resources and large datasets, posing challenges to training models from scratch. Current methods…

We introduce an approach that accurately reconstructs 3D human poses and detailed 3D full-body geometric models from single images in realtime. The key idea of our approach is a novel end-to-end multi-task deep learning framework that uses…

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…

This paper investigates the research task of reconstructing the 3D clothed human body from a monocular image. Due to the inherent ambiguity of single-view input, existing approaches leverage pre-trained SMPL(-X) estimation models or…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…

This paper introduces a fast and efficient segmentation technique for 2D images and 3D point clouds of building facades. Facades of buildings are highly structured and consequently most methods that have been proposed for this problem aim…

Existing monocular 3D detectors typically tame the pronounced nonlinear regression of 3D bounding box through decoupled prediction paradigm, which employs multiple branches to estimate geometric center, depth, dimensions, and rotation angle…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Tri-Planar NeRFs enable the application of powerful 2D vision models for 3D tasks, by representing 3D objects using 2D planar structures. This has made them the prevailing choice to model large collections of 3D objects. However, training…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

Neural 3D reconstruction from multi-view images has recently attracted increasing attention from the community. Existing methods normally learn a neural field for the whole scene, while it is still under-explored how to reconstruct a target…

The reconstruction of three-dimensional dynamic scenes is a well-established yet challenging task within the domain of computer vision. In this paper, we propose a novel approach that combines the domains of 3D geometry reconstruction and…

Indoor panorama typically consists of human-made structures parallel or perpendicular to gravity. We leverage this phenomenon to approximate the scene in a 360-degree image with (H)orizontal-planes and (V)ertical-planes. To this end, we…

Humans can easily identify anatomical planes (axial, coronal, and sagittal) on a 2D MRI slice, but automated systems struggle with this task. Missing plane orientation metadata can complicate analysis, increase domain shift when merging…

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…