相关论文: PAOLI: Pose-free Articulated Object Learning from …

Recent advances in 3D Gaussian Splatting have shown promising results. Existing methods typically assume static scenes and/or multiple images with prior poses. Dynamics, sparse views, and unknown poses significantly increase the problem…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…

In this work, we introduce a generative approach for pose-free (without camera parameters) reconstruction of 360 scenes from a sparse set of 2D images. Pose-free scene reconstruction from incomplete, pose-free observations is usually…

Open-world 3D generation has recently attracted considerable attention. While many single-image-to-3D methods have yielded visually appealing outcomes, they often lack sufficient controllability and tend to produce hallucinated regions that…

This paper introduces a new shape-based image reconstruction technique applicable to a large class of imaging problems formulated in a variational sense. Given a collection of shape priors (a shape dictionary), we define our problem as…

Sparse-view reconstruction models typically require precise camera poses, yet obtaining these parameters from sparse-view images remains challenging. We introduce FreeSplatter, a scalable feed-forward framework that generates high-quality…

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

We target the problem of sparse 3D reconstruction of dynamic objects observed by multiple unsynchronized video cameras with unknown temporal overlap. To this end, we develop a framework to recover the unknown structure without sequencing…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…

Semantic patterns of fine-grained objects are determined by subtle appearance difference of local parts, which thus inspires a number of part-based methods. However, due to uncontrollable object poses in images, distinctive details carried…

Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper,…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

Controllable human image animation aims to generate videos from reference images using driving videos. Due to the limited control signals provided by sparse guidance (e.g., skeleton pose), recent works have attempted to introduce additional…

Retrieving the 3D kinematics of articulated objects from monocular video is a fundamental challenge in computer vision. Existing methods rely on complex video setups or cues such as long-term point tracking or wide-baseline matching, but…

Inferring 3D structures from sparse, unposed observations is challenging due to its unconstrained nature. Recent methods propose to predict implicit representations directly from unposed inputs in a data-driven manner, achieving promising…

We present a slot-wise, object-based transition model that decomposes a scene into objects, aligns them (with respect to a slot-wise object memory) to maintain a consistent order across time, and predicts how those objects evolve over…

Character posing is of interest in computer animation. It is difficult due to its dependence on inverse kinematics (IK) techniques and articulate property of human characters . To solve the IK problem, classical methods that rely on…

We present a novel one-shot method for object detection and 6 DoF pose estimation, that does not require training on target objects. At test time, it takes as input a target image and a textured 3D query model. The core idea is to represent…