相关论文: Generative 3D Part Assembly via Part-Whole-Hierarc…

Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…

We propose PartField, a feedforward approach for learning part-based 3D features, which captures the general concept of parts and their hierarchy without relying on predefined templates or text-based names, and can be applied to open-world…

Estimating a 3D human pose has proven to be a challenging task, primarily because of the complexity of the human body joints, occlusions, and variability in lighting conditions. In this paper, we introduce a higher-order graph convolutional…

Generative models aim to learn the distribution of observed data by generating new instances. With the advent of neural networks, deep generative models, including variational autoencoders (VAEs), generative adversarial networks (GANs), and…

Three-dimensional geometric data offer an excellent domain for studying representation learning and generative modeling. In this paper, we look at geometric data represented as point clouds. We introduce a deep AutoEncoder (AE) network with…

In this paper, we focus on latent modification and generation of 3D point cloud object models with respect to their semantic parts. Different to the existing methods which use separate networks for part generation and assembly, we propose a…

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…

Strong evidence suggests that humans perceive the 3D world by parsing visual scenes and objects into part-whole hierarchies. Although deep neural networks have the capability of learning powerful multi-level representations, they can not…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

We introduce a new method for category-level pose estimation which produces a distribution over predicted poses by integrating 3D shape estimates from a generative object model with segmentation information. Given an input depth-image of an…

Part-based 3D generation holds great potential for various applications. Previous part generators that represent parts using implicit vector-set tokens often suffer from insufficient geometric details. Another line of work adopts an…

Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…

Part-level 3D generation is essential for applications requiring decomposable and structured 3D synthesis. However, existing methods either rely on implicit part segmentation with limited granularity control or depend on strong external…

Representing 3D shape is a fundamental problem in artificial intelligence, which has numerous applications within computer vision and graphics. One avenue that has recently begun to be explored is the use of latent representations of…

Sequential assembly with geometric primitives has drawn attention in robotics and 3D vision since it yields a practical blueprint to construct a target shape. However, due to its combinatorial property, a greedy method falls short of…

Recent studies have shown remarkable advances in 3D human pose estimation from monocular images, with the help of large-scale in-door 3D datasets and sophisticated network architectures. However, the generalizability to different…

Most recent 6D pose estimation frameworks first rely on a deep network to establish correspondences between 3D object keypoints and 2D image locations and then use a variant of a RANSAC-based Perspective-n-Point (PnP) algorithm. This…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

Generative 3D modeling has advanced rapidly, driven by applications in VR/AR, metaverse, and robotics. However, most methods represent the target object as a closed mesh devoid of any structural information, limiting editing, animation, and…