相关论文: Exploiting Semantic Scene Reconstruction for Estim…

Current methods for 3D reconstruction and environmental mapping frequently face challenges in achieving high precision, highlighting the need for practical and effective solutions. In response to this issue, our study introduces FlyNeRF, a…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

The reconstruction of a discrete surface from a point cloud is a fundamental geometry processing problem that has been studied for decades, with many methods developed. We propose the use of a deep neural network as a geometric prior for…

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where a robot is…

Recent works on implicit neural representations have made significant strides. Learning implicit neural surfaces using volume rendering has gained popularity in multi-view reconstruction without 3D supervision. However, accurately…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

In this work we target a learnable output representation that allows continuous, high resolution outputs of arbitrary shape. Recent works represent 3D surfaces implicitly with a Neural Network, thereby breaking previous barriers in…

Self-supervised depth estimation has drawn much attention in recent years as it does not require labeled data but image sequences. Moreover, it can be conveniently used in various applications, such as autonomous driving, robotics,…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Scene understanding is a critical problem in computer vision. In this paper, we propose a 3D point-based scene graph generation ($\mathbf{SGG_{point}}$) framework to effectively bridge perception and reasoning to achieve scene understanding…

The objective of this paper is 3D shape understanding from single and multiple images. To this end, we introduce a new deep-learning architecture and loss function, SilNet, that can handle multiple views in an order-agnostic manner. The…

Inspired by the recent success of methods that employ shape priors to achieve robust 3D reconstructions, we propose a novel recurrent neural network architecture that we call the 3D Recurrent Reconstruction Neural Network (3D-R2N2). The…

Indoor scenes we are living in are visually homogenous or textureless, while they inherently have structural forms and provide enough structural priors for 3D scene reconstruction. Motivated by this fact, we propose a structure-aware online…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…

One of the key drawbacks of 3D convolutional neural networks for segmentation is their memory footprint, which necessitates compromises in the network architecture in order to fit into a given memory budget. Motivated by the RevNet for…

We introduce a novel deep learning-based framework to interpret 3D urban scenes represented as textured meshes. Based on the observation that object boundaries typically align with the boundaries of planar regions, our framework achieves…

Recent advances in 2D-to-3D perception have enabled the recovery of 3D scene semantics from unposed images. However, prevailing methods often suffer from limited generalization, reliance on per-scene optimization, and semantic…

This paper presents a novel attention-based neural network for structured reconstruction, which takes a 2D raster image as an input and reconstructs a planar graph depicting an underlying geometric structure. The approach detects corners…

The goal of the Semantic Scene Completion (SSC) task is to simultaneously predict a completed 3D voxel representation of volumetric occupancy and semantic labels of objects in the scene from a single-view observation. Since the…