相关论文: Learning 3D Object Spatial Relationships from Pre-…

Foundation features from self-supervised vision models and text-to-image diffusion models have proven effective for semantic correspondence estimation. However, because these features are learned primarily from 2D image objectives, they…

Localizing 3D objects using natural language is essential for robotic scene understanding. The descriptions often involve multiple spatial relationships to distinguish similar objects, making 3D-language alignment difficult. Current methods…

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation…

Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid. To benefit from both the powerful object understanding…

Human has an incredible ability to effortlessly perceive the viewpoint difference between two images containing the same object, even when the viewpoint change is astonishingly vast with no co-visible regions in the images. This remarkable…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Estimating the layout of a room from a single-shot panoramic image is important in virtual/augmented reality and furniture layout simulation. This involves identifying three-dimensional (3D) geometry, such as the location of corners and…

In recent years, 3D vision has become a crucial field within computer vision, powering a wide range of applications such as autonomous driving, robotics, augmented reality, and medical imaging. This field relies on accurate perception,…

Unsupervised out-of-distribution (OOD) detection aims to identify out-of-domain data by learning only from unlabeled In-Distribution (ID) training samples, which is crucial for developing a safe real-world machine learning system. Current…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Object recognition, commonly performed by a camera, is a fundamental requirement for robots to complete complex tasks. Some tasks require recognizing objects far from the robot's camera. A challenging example is Ultra-Range Gesture…

Recognizing spatial relations and reasoning about them is essential in multiple applications including navigation, direction giving and human-computer interaction in general. Spatial relations between objects can either be explicit --…

Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…

Building embodied intelligent agents that can interact with 3D indoor environments has received increasing research attention in recent years. While most works focus on single-object or agent-object visual functionality and affordances, our…

Generating realistic 3D scenes is an area of growing interest in computer vision and robotics. However, creating high-quality, diverse synthetic 3D content often requires expert intervention, making it costly and complex. Recently, efforts…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Generative image editing has recently witnessed extremely fast-paced growth. Some works use high-level conditioning such as text, while others use low-level conditioning. Nevertheless, most of them lack fine-grained control over the…