相关论文: Interior Object Geometry via Fitted Frames

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…

The goal of this paper is to learn dense 3D shape correspondence for topology-varying objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead, our novel…

Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…

Humans appear to represent objects for intuitive physics with coarse, volumetric bodies'' that smooth concavities - trading fine visual details for efficient physical predictions - yet their internal structure is largely unknown.…

Majority of the current dimensionality reduction or retrieval techniques rely on embedding the learned feature representations onto a computable metric space. Once the learned features are mapped, a distance metric aids the bridging of gaps…

We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…

Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning.…

The paper addresses the following problem: given a set of man-made shapes, e.g., chairs, can we quickly rank and explore the set of shapes with respect to a given avatar pose? Answering this question requires identifying which shapes are…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

We present a geometric framework for regression on structured high-dimensional data that shifts the analysis from the ambient space to a geometric object capturing the data's intrinsic structure. The method addresses a fundamental challenge…

Particle-based shape modeling (PSM) is a popular approach to automatically quantify shape variability in populations of anatomies. The PSM family of methods employs optimization to automatically populate a dense set of corresponding…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

We present a framework for shape matching in computational anatomy allowing users control of the degree to which the matching is diffeomorphic. This control is given as a function defined over the image and parameterises the template…

Object parts serve as crucial intermediate representations in various downstream tasks, but part-level representation learning still has not received as much attention as other vision tasks. Previous research has established that Vision…

In this paper we consider the problem of constructing numerical algorithms for approximating of convex compact bodies in d-dimensional Euclidean space by polytopes with any given accuracy. It is well known that optimal with respect to the…

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…

Many natural shapes have most of their characterizing features concentrated over a few regions in space. For example, humans and animals have distinctive head shapes, while inorganic objects like chairs and airplanes are made of…

We propose a method that morphs high-orger meshes such that their boundaries and interfaces coincide/align with implicitly defined geometries. Our focus is particularly on the case when the target surface is prescribed as the zero…

A face model is a mathematical representation of the distinct features of a human face. Traditionally, face models were built using a set of fiducial points or landmarks, each point ideally located on a facial feature, i.e., corner of the…