相关论文: POC-SLT: Partial Object Completion with SDF Latent…

Point cloud completion aims to recover the complete shape based on a partial observation. Existing methods require either complete point clouds or multiple partial observations of the same object for learning. In contrast to previous…

Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…

We propose SDFDiff, a novel approach for image-based shape optimization using differentiable rendering of 3D shapes represented by signed distance functions (SDFs). Compared to other representations, SDFs have the advantage that they can…

Neural implicit shape representations are an emerging paradigm that offers many potential benefits over conventional discrete representations, including memory efficiency at a high spatial resolution. Generalizing across shapes with such…

Semantic Scene Completion (SSC) transforms an image of single-view depth and/or RGB 2D pixels into 3D voxels, each of whose semantic labels are predicted. SSC is a well-known ill-posed problem as the prediction model has to "imagine" what…

3D point cloud anomaly detection is essential for robust vision systems but is challenged by pose variations and complex geometric anomalies. Existing patch-based methods often suffer from geometric fidelity issues due to discrete…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

Point completion refers to complete the missing geometries of objects from partial point clouds. Existing works usually estimate the missing shape by decoding a latent feature encoded from the input points. However, real-world objects are…

We propose a novel model for 3D semantic completion from a single depth image, based on a single encoder and three separate generators used to reconstruct different geometric and semantic representations of the original and completed scene,…

Objects with complex structures pose significant challenges to existing instance segmentation methods that rely on boundary or affinity maps, which are vulnerable to small errors around contacting pixels that cause noticeable connectivity…

A signed distance function (SDF) as the 3D shape description is one of the most effective approaches to represent 3D geometry for rendering and reconstruction. Our work is inspired by the state-of-the-art method DeepSDF that learns and…

Point cloud completion aims to infer a complete shape from its partial observation. Many approaches utilize a pure encoderdecoder paradigm in which complete shape can be directly predicted by shape priors learned from partial scans,…

Neural signed distance functions (SDFs) are emerging as an effective representation for 3D shapes. State-of-the-art methods typically encode the SDF with a large, fixed-size neural network to approximate complex shapes with implicit…

Unsupervised point cloud completion aims at estimating the corresponding complete point cloud of a partial point cloud in an unpaired manner. It is a crucial but challenging problem since there is no paired partial-complete supervision that…

Recent conditional 3D completion works have mainly relied on CLIP or BERT to encode textual information, which cannot support complex instruction. Meanwhile, large language models (LLMs) have shown great potential in multi-modal…

Implicit neural representations map a shape-specific latent code and a 3D coordinate to its corresponding signed distance (SDF) value. However, this approach only offers a single level of detail. Emulating low levels of detail can be…

We propose a feed-forward method for dense Signed Distance Field (SDF) regression from unstructured image collections in less than three seconds, without camera calibration or post-hoc fusion. Our key insight is that the intermediate…

Current foundation models for 3D shapes excel at global tasks (retrieval, classification) but transfer poorly to local part-level reasoning. Recent approaches leverage vision and language foundation models to directly solve dense tasks…

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…

Efficiently reconstructing complex and intricate surfaces at scale is a long-standing goal in machine perception. To address this problem we introduce Deep Local Shapes (DeepLS), a deep shape representation that enables encoding and…