相关论文: HandOcc: NeRF-based Hand Rendering with Occupancy …

Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…

We investigate a new problem of detecting hands and recognizing their physical contact state in unconstrained conditions. This is a challenging inference task given the need to reason beyond the local appearance of hands. The lack of…

We construct the first markerless deformable interaction dataset recording interactive motions of the hands and deformable objects, called HMDO (Hand Manipulation with Deformable Objects). With our built multi-view capture system, it…

Neural Radiance Fields (NeRF) are able to reconstruct scenes with unprecedented fidelity, and various recent works have extended NeRF to handle dynamic scenes. A common approach to reconstruct such non-rigid scenes is through the use of a…

We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating…

Vision-based perception for autonomous driving requires an explicit modeling of a 3D space, where 2D latent representations are mapped and subsequent 3D operators are applied. However, operating on dense latent spaces introduces a cubic…

Neural implicit representations such as NeRF have revolutionized 3D scene representation with photo-realistic quality. However, existing methods for visual localization within NeRF representations suffer from inefficiency and scalability…

In this paper, we introduce OmniHands, a universal approach to recovering interactive hand meshes and their relative movement from monocular or multi-view inputs. Our approach addresses two major limitations of previous methods: lacking a…

Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…

With the advent of Neural Radiance Fields (NeRF), neural networks can now render novel views of a 3D scene with quality that fools the human eye. Yet, generating these images is very computationally intensive, limiting their applicability…

NeRF's high-quality scene synthesis capability was quickly accepted by scholars in the years after it was proposed, and significant progress has been made in 3D scene representation and synthesis. However, the high computational cost limits…

Autonomous driving in complex urban scenarios requires 3D perception to be both comprehensive and precise. Traditional 3D perception methods focus on object detection, resulting in sparse representations that lack environmental detail.…

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…

Humans commonly identify 3D object affordance through observed interactions in images or videos, and once formed, such knowledge can be generically generalized to novel objects. Inspired by this principle, we advocate for a novel framework…

Learning radiance fields (NeRF) with powerful 2D diffusion models has garnered popularity for text-to-3D generation. Nevertheless, the implicit 3D representations of NeRF lack explicit modeling of meshes and textures over surfaces, and such…

Due to the omnipresence of Neural Radiance Fields (NeRFs), the interest towards editable implicit 3D representations has surged over the last years. However, editing implicit or hybrid representations as used for NeRFs is difficult due to…

Neural radiance fields provide state-of-the-art view synthesis quality but tend to be slow to render. One reason is that they make use of volume rendering, thus requiring many samples (and model queries) per ray at render time. Although…

Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping performance, in this paper, we propose a NeRF-based mapping…