相关论文: Unsupervised Discovery of Object-Centric Neural Fi…

In visual computing, 3D geometry is represented in many different forms including meshes, point clouds, voxel grids, level sets, and depth images. Each representation is suited for different tasks thus making the transformation of one…

Deep learning has enabled remarkable advances in scene understanding, particularly in semantic segmentation tasks. Yet, current state of the art approaches are limited to a closed set of classes, and fail when facing novel elements, also…

Self-supervision allows learning meaningful representations of natural images, which usually contain one central object. How well does it transfer to multi-entity scenes? We discuss key aspects of learning structured object-centric…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Common-sense physical reasoning is an essential ingredient for any intelligent agent operating in the real-world. For example, it can be used to simulate the environment, or to infer the state of parts of the world that are currently…

In this work we target a learnable output representation that allows continuous, high resolution outputs of arbitrary shape. Recent works represent 3D surfaces implicitly with a Neural Network, thereby breaking previous barriers in…

Recent works on 3D scene understanding leverage 2D masks from visual foundation models (VFMs) to supervise radiance fields, enabling instance-level 3D segmentation. However, the supervision signals from foundation models are not…

Despite significant recent progress, machine vision systems lag considerably behind their biological counterparts in performance, scalability, and robustness. A distinctive hallmark of the brain is its ability to automatically discover and…

In this paper, we study the problem of unsupervised object segmentation from single images. We do not introduce a new algorithm, but systematically investigate the effectiveness of existing unsupervised models on challenging real-world…

In recent years, neural implicit surface reconstruction has emerged as a popular paradigm for multi-view 3D reconstruction. Unlike traditional multi-view stereo approaches, the neural implicit surface-based methods leverage neural networks…

Single-view 3D shape retrieval is a challenging task that is increasingly important with the growth of available 3D data. Prior work that has studied this task has not focused on evaluating how realistic occlusions impact performance, and…

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast…

Human-centric 3D scene understanding has recently drawn increasing attention, driven by its critical impact on robotics. However, human-centric real-life scenarios are extremely diverse and complicated, and humans have intricate motions and…

We propose a method to learn 3D deformable object categories from raw single-view images, without external supervision. The method is based on an autoencoder that factors each input image into depth, albedo, viewpoint and illumination. In…

Autonomous driving (AD) operates in open-world scenarios, where encountering unknown objects is inevitable. However, standard object detectors trained on a limited number of base classes tend to ignore any unknown objects, posing potential…

We present ONeRF, a method that automatically segments and reconstructs object instances in 3D from multi-view RGB images without any additional manual annotations. The segmented 3D objects are represented using separate Neural Radiance…

We introduce AutoRF - a new approach for learning neural 3D object representations where each object in the training set is observed by only a single view. This setting is in stark contrast to the majority of existing works that leverage…

Open World Object Detection (OWOD) is a novel and challenging computer vision task that enables object detection with the ability to detect unknown objects. Existing methods typically estimate the object likelihood with an additional…

While an exciting diversity of new imaging devices is emerging that could dramatically improve robotic perception, the challenges of calibrating and interpreting these cameras have limited their uptake in the robotics community. In this…

Learned visual dynamics models have proven effective for robotic manipulation tasks. Yet, it remains unclear how best to represent scenes involving multi-object interactions. Current methods decompose a scene into discrete objects, but they…