相关论文: Is Single-View Mesh Reconstruction Ready for Robot…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

We present a novel framework for mesh reconstruction from unstructured point clouds by taking advantage of the learned visibility of the 3D points in the virtual views and traditional graph-cut based mesh generation. Specifically, we first…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Building perceptual systems for robotics which perform well under tight computational budgets requires novel architectures which rethink the traditional computer vision pipeline. Modern vision architectures require the agent to build a…

We investigate the possibility of 3D scene reconstruction from two or more overlapping webcam streams. A large, and growing, number of webcams observe places of interest and are publicly accessible. The question naturally arises: can we…

Metaverse technologies demand accurate, real-time, and immersive modeling on consumer-grade hardware for both non-human perception (e.g., drone/robot/autonomous car navigation) and immersive technologies like AR/VR, requiring both…

3D reconstruction from 2D images is a central problem in computer vision. Recent works have been focusing on reconstruction directly from a single image. It is well known however that only one image cannot provide enough information for…

Generic 3D reconstruction from a single image is a difficult problem. A lot of data loss occurs in the projection. A domain based approach to reconstruction where we solve a smaller set of problems for a particular use case lead to greater…

In the field of architecture, the conversion of single images into 2 and 1/2D and 3D meshes is a promising technology that enhances design visualization and efficiency. This paper evaluates four innovative methods: "One-2-3-45," "CRM:…

In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…

The desired outcome for urban digital twins is an automatically generated detailed 3D model of a building from aerial imagery, footprints, LiDAR, or a fusion of these. Such 3D models have applications in architecture, civil engineering,…

The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…

Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…

Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…

Generating consistent multiple views for 3D reconstruction tasks is still a challenge to existing image-to-3D diffusion models. Generally, incorporating 3D representations into diffusion model decrease the model's speed as well as…

Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…

Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…

We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

Humans can easily infer the underlying 3D geometry and texture of an object only from a single 2D image. Current computer vision methods can do this, too, but suffer from view generalization problems - the models inferred tend to make poor…