相关论文: Zero123-6D: Zero-shot Novel View Synthesis for RGB…

We cast multiview reconstruction from unknown pose as a generative modeling problem. From a collection of unannotated 2D images of a scene, our approach simultaneously learns both a network to predict camera pose from 2D image input, as…

Zero-shot Learning (ZSL) aims to enable classifiers to identify unseen classes. This is typically achieved by generating visual features for unseen classes based on learned visual-semantic correlations from seen classes. However, most…

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a…

The recent wave of large-scale text-to-image diffusion models has dramatically increased our text-based image generation abilities. These models can generate realistic images for a staggering variety of prompts and exhibit impressive…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

This paper presents a new dataset for Novel View Synthesis, generated from a high-quality, animated film with stunning realism and intricate detail. Our dataset captures a variety of dynamic scenes, complete with detailed textures,…

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…

Diffusion-based approaches have recently demonstrated strong performance for single-image novel view synthesis by conditioning generative models on geometry inferred from monocular depth estimation. However, in practice, the quality and…

We present DiffuScene for indoor 3D scene synthesis based on a novel scene configuration denoising diffusion model. It generates 3D instance properties stored in an unordered object set and retrieves the most similar geometry for each…

Despite recent advancements in neural 3D reconstruction, the dependence on dense multi-view captures restricts their broader applicability. In this work, we propose \textbf{ViewCrafter}, a novel method for synthesizing high-fidelity novel…

Human has an incredible ability to effortlessly perceive the viewpoint difference between two images containing the same object, even when the viewpoint change is astonishingly vast with no co-visible regions in the images. This remarkable…

Accurate and efficient 6D pose estimation of novel objects under clutter and occlusion is critical for robotic manipulation across warehouse automation, bin picking, logistics, and e-commerce fulfillment. There are three main approaches in…

Novel View Synthesis (NVS), which tries to produce a realistic image at the target view given source view images and their corresponding poses, is a fundamental problem in 3D Vision. As this task is heavily under-constrained, some recent…

Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…

We introduce MultiDiff, a novel approach for consistent novel view synthesis of scenes from a single RGB image. The task of synthesizing novel views from a single reference image is highly ill-posed by nature, as there exist multiple,…

Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…

Inspired by Geoffrey Hinton emphasis on generative modeling, To recognize shapes, first learn to generate them, we explore the use of 3D diffusion models for object classification. Leveraging the density estimates from these models, our…

We introduce a method for novel view synthesis given only a single wide-baseline stereo image pair. In this challenging regime, 3D scene points are regularly observed only once, requiring prior-based reconstruction of scene geometry and…

Zero-shot instance segmentation aims to detect and precisely segment objects of unseen categories without any training samples. Since the model is trained on seen categories, there is a strong bias that the model tends to classify all the…

We introduce a novel, training-free system for reconstructing, understanding, and rendering 3D indoor scenes from a sparse set of unposed RGB images. Unlike traditional radiance field approaches that require dense views and per-scene…