相关论文: Robust Shape Fitting for 3D Scene Abstraction

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

We present an efficient 3D object detection framework based on a single RGB image in the scenario of autonomous driving. Our efforts are put on extracting the underlying 3D information in a 2D image and determining the accurate 3D bounding…

The shape of circle is one of fundamental geometric primitives of man-made engineering objects. Thus, extraction of circles from scanned point clouds is a quite important task in 3D geometry data processing. However, existing circle…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate semantics while avoiding the significant memory and storage…

Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This…

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…

Neural implicit surface reconstruction using volume rendering techniques has recently achieved significant advancements in creating high-fidelity surfaces from multiple 2D images. However, current methods primarily target scenes with…

It has been a longstanding goal in computer vision to describe the 3D physical space in terms of parameterized volumetric models that would allow autonomous machines to understand and interact with their surroundings. Such models are…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

We present MonteBoxFinder, a method that, given a noisy input point cloud, fits cuboids to the input scene. Our primary contribution is a discrete optimization algorithm that, from a dense set of initially detected cuboids, is able to…

Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Deep neural representations of 3D shapes as implicit functions have been shown to produce high fidelity models surpassing the resolution-memory trade-off faced by the explicit representations using meshes and point clouds. However, most…

We present PriFit, a semi-supervised approach for label-efficient learning of 3D point cloud segmentation networks. PriFit combines geometric primitive fitting with point-based representation learning. Its key idea is to learn point…

3D perception of object shapes from RGB image input is fundamental towards semantic scene understanding, grounding image-based perception in our spatially 3-dimensional real-world environments. To achieve a mapping between image views of…

Robots need both visual and contact sensing to effectively estimate the state of their environment. Camera RGBD data provides rich information of the objects surrounding the robot, and shape priors can help correct noise and fill in gaps…