相关论文: D4D: An RGBD diffusion model to boost monocular de…

Diffusion MRI (dMRI) is a valuable tool to map brain microstructure and connectivity by analyzing water molecule diffusion in tissue. However, acquiring dMRI data requires to capture multiple 3D brain volumes in a short time, often leading…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

Mobile robots that manipulate their environments require high-accuracy scene understanding at close range. Typically this understanding is achieved with RGBD cameras, but the evaluation process for selecting an appropriate RGBD camera for…

Diffusion Magnetic Resonance Imaging (dMRI) plays a critical role in studying microstructural changes in the brain. It is, therefore, widely used in clinical practice; yet progress in learning general-purpose representations from dMRI has…

The availability of large-scale multimodal datasets and advancements in diffusion models have significantly accelerated progress in 4D content generation. Most prior approaches rely on multiple image or video diffusion models, utilizing…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

Generative diffusion models have achieved remarkable success in producing high-quality images. However, these models typically operate in continuous intensity spaces, diffusing independently across pixels and color channels. As a result,…

In this paper, we address the problem of monocular depth estimation when only a limited number of training image-depth pairs are available. To achieve a high regression accuracy, the state-of-the-art estimation methods rely on CNNs trained…

Monocular depth estimation is a fundamental yet challenging task in computer vision, especially under complex conditions such as textureless surfaces, transparency, and specular reflections. Recent diffusion-based approaches have…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…

Standard Latent Diffusion Models rely on a complex, three-part architecture consisting of a separate encoder, decoder, and diffusion network, which are trained in multiple stages. This modular design is computationally inefficient, leads to…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

Recovering metric depth from a single image remains a fundamental challenge in computer vision, requiring both scene understanding and accurate scaling. While deep learning has advanced monocular depth estimation, current models often…

We propose a novel 3d colored shape reconstruction method from a single RGB image through diffusion model. Diffusion models have shown great development potentials for high-quality 3D shape generation. However, most existing work based on…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

Due to their text-to-image synthesis feature, diffusion models have recently seen a rise in visual perception tasks, such as depth estimation. The lack of good-quality datasets makes the extraction of a fine-grain semantic context…

Monocular depth estimation aims at estimating a pixelwise depth map for a single image, which has wide applications in scene understanding and autonomous driving. Existing supervised and unsupervised methods face great challenges.…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…

Controlling illumination in images is essential for photography and visual content creation. While closed-source models have demonstrated impressive illumination control, open-source alternatives either require heavy control inputs like…