相关论文: Range-Agnostic Multi-View Depth Estimation With Ke…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

3D reconstruction of a scene from Synthetic Aperture Radar (SAR) images mainly relies on interferometric measurements, which involve strict constraints on the acquisition process. These last years, progress in deep learning has…

We propose a scene-level inverse rendering framework that uses multi-view images to decompose the scene into geometry, a SVBRDF, and 3D spatially-varying lighting. Because multi-view images provide a variety of information about the scene,…

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…

While conventional depth estimation can infer the geometry of a scene from a single RGB image, it fails to estimate scene regions that are occluded by foreground objects. This limits the use of depth prediction in augmented and virtual…

Traditionally, 3D indoor scene reconstruction from posed images happens in two phases: per-image depth estimation, followed by depth merging and surface reconstruction. Recently, a family of methods have emerged that perform reconstruction…

Lidar-based perception pipelines rely on 3D object detection models to interpret complex scenes. While multiple representations for lidar exist, the range-view is enticing since it losslessly encodes the entire lidar sensor output. In this…

Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…

Learning-based, single-view depth estimation often generalizes poorly to unseen datasets. While learning-based, two-frame depth estimation solves this problem to some extent by learning to match features across frames, it performs poorly at…

Radiance Fields have become a powerful tool for modeling 3D scenes from multiple images. However, they remain difficult to segment into semantically meaningful regions. Some methods work well using 2D semantic masks, but they generalize…

This paper introduces a novel deep framework for dense 3D reconstruction from multiple image frames, leveraging a sparse set of depth measurements gathered jointly with image acquisition. Given a deep multi-view stereo network, our…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

The problem of detecting changes in a scene and segmenting the foreground from background is still challenging, despite previous work. Moreover, new RGBD capturing devices include depth cues, which could be incorporated to improve…

Scene and object reconstruction is an important problem in robotics, in particular in planning collision-free trajectories or in object manipulation. This paper compares two strategies for the reconstruction of nonvisible parts of the…

Three-dimensional (3D) reconstruction from a single image is an ill-posed problem with inherent ambiguities, i.e. scale. Predicting a 3D scene from text description(s) is similarly ill-posed, i.e. spatial arrangements of objects described.…

The majority of modern single-view depth estimation methods predict relative depth and thus cannot be directly applied in many real-world scenarios, despite impressive performance in the benchmarks. Moreover, single-view approaches cannot…

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to…

Gated imaging is an emerging sensor technology for self-driving cars that provides high-contrast images even under adverse weather influence. It has been shown that this technology can even generate high-fidelity dense depth maps with…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…