相关论文: SelfGeo: Self-supervised and Geodesic-consistent E…

Training a 3D human keypoint detector from point clouds in a supervised manner requires large volumes of high quality labels. While it is relatively easy to capture large amounts of human point clouds, annotating 3D keypoints is expensive,…

Geodesics are essential in many geometry processing applications. However, traditional algorithms for computing geodesic distances and paths on 3D mesh models are often inefficient and slow. This makes them impractical for scenarios that…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

As 3D Gaussian Splatting (3DGS) gains popularity as a 3D representation of real scenes, enabling user-friendly deformation to create novel scenes while preserving fine details from the original 3DGS has attracted significant research…

In this paper, we study the representation of the shape and pose of objects using their keypoints. Therefore, we propose an end-to-end method that simultaneously detects 2D keypoints from an image and lifts them to 3D. The proposed method…

We introduce a technique for 3D human keypoint estimation that directly models the notion of spatial uncertainty of a keypoint. Our technique employs a principled approach to modelling spatial uncertainty inspired from techniques in robust…

Non-rigid registration computes an alignment between a source surface with a target surface in a non-rigid manner. In the past decade, with the advances in 3D sensing technologies that can measure time-varying surfaces, non-rigid…

We introduce the first completely unsupervised correspondence learning approach for deformable 3D shapes. Key to our model is the understanding that natural deformations (such as changes in pose) approximately preserve the metric structure…

This paper presents an approach to estimating the continuous 6-DoF pose of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional network (convnet) with a deformable shape model. Unlike…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Single-view 3D object reconstruction is a challenging fundamental problem in computer vision, largely due to the morphological diversity of objects in the natural world. In particular, high curvature regions are not always captured…

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

We present an unsupervised learning approach to recover 3D human pose from 2D skeletal joints extracted from a single image. Our method does not require any multi-view image data, 3D skeletons, correspondences between 2D-3D points, or use…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

This article presents a new method for non-rigidly registering a 3D shape to 2D keypoints observed by a constellation of multiple cameras. Non-rigid registration of a 3D shape to observed 2D keypoints, i.e., Shape-from-Template (SfT), has…

Detecting 3D keypoints from point clouds is important for shape reconstruction, while this work investigates the dual question: can shape reconstruction benefit 3D keypoint detection? Existing methods either seek salient features according…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…