相关论文: Probing the 3D Awareness of Visual Foundation Mode…

Shape priors learned from data are commonly used to reconstruct 3D objects from partial or noisy data. Yet no such shape priors are available for indoor scenes, since typical 3D autoencoders cannot handle their scale, complexity, or…

Understanding 3D scenes requires flexible combinations of visual reasoning tasks, including depth estimation, novel view synthesis, and object manipulation, all of which are essential for perception and interaction. Existing approaches have…

A central goal of visual recognition is to understand objects and scenes from a single image. 2D recognition has witnessed tremendous progress thanks to large-scale learning and general-purpose representations. Comparatively, 3D poses new…

The rapid advances in 3D scanning and acquisition techniques have given rise to the explosive increase of volumetric digital models in recent years. This dissertation systematically trailblazes a novel volumetric modeling framework to…

We present a novel approach to the generation of static and articulated 3D assets that has a 3D autodecoder at its core. The 3D autodecoder framework embeds properties learned from the target dataset in the latent space, which can then be…

The ability to understand the ways to interact with objects from visual cues, a.k.a. visual affordance, is essential to vision-guided robotic research. This involves categorizing, segmenting and reasoning of visual affordance. Relevant…

This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…

This paper explores self-supervised learning of amodal 3D feature representations from RGB and RGB-D posed images and videos, agnostic to object and scene semantic content, and evaluates the resulting scene representations in the downstream…

A 3D scene consists of a set of objects, each with a shape and a layout giving their position in space. Understanding 3D scenes from 2D images is an important goal, with applications in robotics and graphics. While there have been recent…

While Multimodal Large Language Models demonstrate impressive semantic capabilities, they often suffer from spatial blindness, struggling with fine-grained geometric reasoning and physical dynamics. Existing solutions typically rely on…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

Real-life man-made objects often exhibit strong and easily-identifiable structure, as a direct result of their design or their intended functionality. Structure typically appears in the form of individual parts and their arrangement.…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

In this thesis we discuss architectural designs and training methods for a neural network to have the ability of dissecting an image into objects of interest without supervision. The main challenge in 2D unsupervised object segmentation is…

Vision foundation models (VFMs) trained on large-scale image datasets provide high-quality features that have significantly advanced 2D visual recognition. However, their potential in 3D scene segmentation remains largely untapped, despite…

Learning from 3D protein structures has gained wide interest in protein modeling and structural bioinformatics. Unfortunately, the number of available structures is orders of magnitude lower than the training data sizes commonly used in…

Aiming at inferring 3D shapes from 2D images, 3D shape reconstruction has drawn huge attention from researchers in computer vision and deep learning communities. However, it is not practical to assume that 2D input images and their…

Building a foundation model for 3D vision is a complex challenge that remains unsolved. Towards that goal, it is important to understand the 3D reasoning capabilities of current models as well as identify the gaps between these models and…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…