相关论文: Articulate your NeRF: Unsupervised articulated obj…

Learning with complete or partial supervision is powerful but relies on ever-growing human annotation efforts. As a way to mitigate this serious problem, as well as to serve specific applications, unsupervised learning has emerged as an…

Articulated objects are ubiquitous in daily life. Our goal is to achieve a high-quality reconstruction, segmentation of independent moving parts, and analysis of articulation. Recent methods analyse two different articulation states and…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…

Retrieving the 3D kinematics of articulated objects from monocular video is a fundamental challenge in computer vision. Existing methods rely on complex video setups or cues such as long-term point tracking or wide-baseline matching, but…

We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…

Instance segmentation is essential for numerous computer vision applications, including robotics, human-computer interaction, and autonomous driving. Currently, popular models bring impressive performance in instance segmentation by…

Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly challenging for robot perception because it is hard to reconstruct them using commodity RGB-D cameras or multi-view stereo…

We address an essential problem in computer vision, that of unsupervised object segmentation in video, where a main object of interest in a video sequence should be automatically separated from its background. An efficient solution to this…

Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…

We propose ArtiLatent, a generative framework that synthesizes human-made 3D objects with fine-grained geometry, accurate articulation, and realistic appearance. Our approach jointly models part geometry and articulation dynamics by…

Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…

We study the problem of learning to estimate the 3D object pose from a few labelled examples and a collection of unlabelled data. Our main contribution is a learning framework, neural view synthesis and matching, that can transfer the 3D…

Finding an unsupervised decomposition of an image into individual objects is a key step to leverage compositionality and to perform symbolic reasoning. Traditionally, this problem is solved using amortized inference, which does not…

Neural networks are a powerful framework for foreground segmentation in video acquired by static cameras, segmenting moving objects from the background in a robust way in various challenging scenarios. The premier methods are those based on…

Recently developed deep learning models are able to learn to segment scenes into component objects without supervision. This opens many new and exciting avenues of research, allowing agents to take objects (or entities) as inputs, rather…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

We introduce an unsupervised feature learning approach that embeds 3D shape information into a single-view image representation. The main idea is a self-supervised training objective that, given only a single 2D image, requires all unseen…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…