相关论文: Interior Object Geometry via Fitted Frames

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

In previous work, we introduced a method for modeling a configuration of objects in 2D and 3D images using a mathematical "medial/skeletal linking structure." In this paper, we show how these structures allow us to capture positional…

Objects moving at high speed appear significantly blurred when captured with cameras. The blurry appearance is especially ambiguous when the object has complex shape or texture. In such cases, classical methods, or even humans, are unable…

It is challenging to directly estimate the human geometry from a single image due to the high diversity and complexity of body shapes with the various clothing styles. Most of model-based approaches are limited to predict the shape and pose…

This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of…

We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…

We present a new object representation, called Dense RepPoints, that utilizes a large set of points to describe an object at multiple levels, including both box level and pixel level. Techniques are proposed to efficiently process these…

Recently, learning frameworks have shown the capability of inferring the accurate shape, pose, and texture of an object from a single RGB image. However, current methods are trained on image collections of a single category in order to…

Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…

Feature-based object matching is a fundamental problem for many applications in computer vision, such as object recognition, 3D reconstruction, tracking, and motion segmentation. In this work, we consider simultaneously matching object…

Ordinal embedding aims at finding a low dimensional representation of objects from a set of constraints of the form "item $j$ is closer to item $i$ than item $k$". Typically, each object is mapped onto a point vector in a low dimensional…

This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…

Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces…

We present a new approach to 3D object representation where a neural network encodes the geometry of an object directly into the weights and biases of a second 'mapping' network. This mapping network can be used to reconstruct an object by…

We propose a novel algorithm for the fitting of 3D human shape to images. Combining the accuracy and refinement capabilities of iterative gradient-based optimization techniques with the robustness of deep neural networks, we propose a…

Parametric 3D models have formed a fundamental role in modeling deformable objects, such as human bodies, faces, and hands; however, the construction of such parametric models requires significant manual intervention and domain expertise.…

In order to interact with objects in our environment, humans rely on an understanding of the actions that can be performed on them, as well as their properties. When considering concrete motor actions, this knowledge has been called the…

We cast shape matching as metric learning with convolutional networks. We break the end-to-end process of image representation into two parts. Firstly, well established efficient methods are chosen to turn the images into edge maps.…

In this technical report, we investigate efficient representations of articulated objects (e.g. human bodies), which is an important problem in computer vision and graphics. To deform articulated geometry, existing approaches represent…

Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…