相关论文: Rig3R: Rig-Aware Conditioning for Learned 3D Recon…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

Most image-based 3D object reconstructors assume that objects are fully visible, ignoring occlusions that commonly occur in real-world scenarios. In this paper, we introduce Amodal3R, a conditional 3D generative model designed to…

Robots cannot yet match humans' ability to rapidly learn the shapes of novel 3D objects and recognize them robustly despite clutter and occlusion. We present Bayes3D, an uncertainty-aware perception system for structured 3D scenes, that…

We integrate two powerful ideas, geometry and deep visual representation learning, into recurrent network architectures for mobile visual scene understanding. The proposed networks learn to "lift" and integrate 2D visual features over time…

Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…

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 the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Accurate accident anticipation remains challenging when driver cognition and dynamic road conditions are underrepresented in predictive models. In this paper, we propose CAMERA (Context-Aware Multi-modal Enhanced Risk Anticipation), a…

3D occupancy prediction aims to infer dense, voxel-wise scene semantics from sensor observations, where the 2D-to-3D view transformation serves as a crucial step in bridging image features and volumetric representations. Most previous…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

Transformer-based 3D reconstruction has emerged as a powerful paradigm for recovering geometry and appearance from multi-view observations, offering strong performance across challenging visual conditions. As these models scale to larger…

The dominant majority of 3D models that appear in gaming, VR/AR, and those we use to train geometric deep learning algorithms are incomplete, since they are modeled as surface meshes and missing their interior structures. We present a…

We present RigNet, an end-to-end automated method for producing animation rigs from input character models. Given an input 3D model representing an articulated character, RigNet predicts a skeleton that matches the animator expectations in…

General scene reconstruction refers to the task of estimating the full 3D geometry and texture of a scene containing previously unseen objects. In many practical applications such as AR/VR, autonomous navigation, and robotics, only a single…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

Estimating 3D articulated shapes like animal bodies from monocular images is inherently challenging due to the ambiguities of camera viewpoint, pose, texture, lighting, etc. We propose ARTIC3D, a self-supervised framework to reconstruct…