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

We propose an adversarial contextual model for detecting moving objects in images. A deep neural network is trained to predict the optical flow in a region using information from everywhere else but that region (context), while another…

To learn object models for robotic manipulation, unsupervised methods cannot provide accurate object structural information and supervised methods require a large amount of manually labeled training samples, thus interactive object…

Animals have evolved highly functional visual systems to understand motion, assisting perception even under complex environments. In this paper, we work towards developing a computer vision system able to segment objects by exploiting…

Instance segmentation is an active topic in computer vision that is usually solved by using supervised learning approaches over very large datasets composed of object level masks. Obtaining such a dataset for any new domain can be very…

Unsupervised video object segmentation (VOS) aims to detect and segment the most salient object in videos. The primary techniques used in unsupervised VOS are 1) the collaboration of appearance and motion information; and 2) temporal fusion…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

We present an unsupervised learning framework for decomposing images into layers of automatically discovered object models. Contrary to recent approaches that model image layers with autoencoder networks, we represent them as explicit…

In this work, we focus on synthesizing high-fidelity novel view images for arbitrary human performers, given a set of sparse multi-view images. It is a challenging task due to the large variation among articulated body poses and heavy…

Novel view synthesis from a single image has recently achieved remarkable results, although the requirement of some form of 3D, pose, or multi-view supervision at training time limits the deployment in real scenarios. This work aims at…

We propose a novel-view augmentation (NOVA) strategy to train NeRFs for photo-realistic 3D composition of dynamic objects in a static scene. Compared to prior work, our framework significantly reduces blending artifacts when inserting…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

We propose united implicit functions (UNIF), a part-based method for clothed human reconstruction and animation with raw scans and skeletons as the input. Previous part-based methods for human reconstruction rely on ground-truth part labels…

We propose a training-free method, Articulate3D, to pose a 3D asset through language control. Despite advances in vision and language models, this task remains surprisingly challenging. To achieve this goal, we decompose the problem into…

We address the problem of building digital twins of unknown articulated objects from two RGBD scans of the object at different articulation states. We decompose the problem into two stages, each addressing distinct aspects. Our method first…

We present radiance field propagation (RFP), a novel approach to segmenting objects in 3D during reconstruction given only unlabeled multi-view images of a scene. RFP is derived from emerging neural radiance field-based techniques, which…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Part segmentations provide a rich and detailed part-level description of objects. However, their annotation requires an enormous amount of work, which makes it difficult to apply standard deep learning methods. In this paper, we propose the…

Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…

We introduce ReConvNet, a recurrent convolutional architecture for semi-supervised video object segmentation that is able to fast adapt its features to focus on any specific object of interest at inference time. Generalization to new…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…