相关论文: NARF24: Estimating Articulated Object Structure fo…

We present Neural Articulated Radiance Field (NARF), a novel deformable 3D representation for articulated objects learned from images. While recent advances in 3D implicit representation have made it possible to learn models of complex…

Articulated objects pose a unique challenge for robotic perception and manipulation. Their increased number of degrees-of-freedom makes tasks such as localization computationally difficult, while also making the process of real-world…

Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in…

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…

A variety of Neural Radiance Fields (NeRF) methods have recently achieved remarkable success in high render speed. However, current accelerating methods are specialized and incompatible with various implicit methods, preventing real-time…

Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…

Object pose estimation is a prominent task in computer vision. The object pose gives the orientation and translation of the object in real-world space, which allows various applications such as manipulation, augmented reality, etc. Various…

We propose a novel unsupervised method to learn the pose and part-segmentation of articulated objects with rigid parts. Given two observations of an object in different articulation states, our method learns the geometry and appearance of…

Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…

We present a simple yet powerful neural network that implicitly represents and renders 3D objects and scenes only from 2D observations. The network models 3D geometries as a general radiance field, which takes a set of 2D images with camera…

We present a method to learn compositional multi-object dynamics models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. NeRFs have become a popular choice for…

We propose CLA-NeRF -- a Category-Level Articulated Neural Radiance Field that can perform view synthesis, part segmentation, and articulated pose estimation. CLA-NeRF is trained at the object category level using no CAD models and no…

Neural radiance fields (NeRFs) are a powerful tool for implicit scene representations, allowing for differentiable rendering and the ability to make predictions about unseen viewpoints. There has been growing interest in object and…

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…

We present a new method for estimating the Neural Reflectance Field (NReF) of an object from a set of posed multi-view images under unknown lighting. NReF represents 3D geometry and appearance of objects in a disentangled manner, and are…

Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a…

While deep learning reshaped the classical motion capture pipeline with feed-forward networks, generative models are required to recover fine alignment via iterative refinement. Unfortunately, the existing models are usually hand-crafted or…

We present a method for composing photorealistic scenes from captured images of objects. Our work builds upon neural radiance fields (NeRFs), which implicitly model the volumetric density and directionally-emitted radiance of a scene. While…

We present a method for estimating neural scenes representations of objects given only a single image. The core of our method is the estimation of a geometric scaffold for the object and its use as a guide for the reconstruction of the…

Recently, significant progress has been made in the study of methods for 3D reconstruction from multiple images using implicit neural representations, exemplified by the neural radiance field (NeRF) method. Such methods, which are based on…