相关论文: Learning Dynamic Scene Reconstruction with Sinusoi…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Surgical decisions are informed by aligning rapid portable 2D intraoperative images (e.g., X-rays) to a high-fidelity 3D preoperative reference scan (e.g., CT). 2D/3D image registration often fails in practice: conventional optimization…

Learning general image representations has proven key to the success of many computer vision tasks. For example, many approaches to image understanding problems rely on deep networks that were initially trained on ImageNet, mostly because…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

We present a novel end-to-end framework named as GSNet (Geometric and Scene-aware Network), which jointly estimates 6DoF poses and reconstructs detailed 3D car shapes from single urban street view. GSNet utilizes a unique four-way feature…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

The latest deep learning approaches perform better than the state-of-the-art signal processing approaches in various image restoration tasks. However, if an image contains many patterns and structures, the performance of these CNNs is still…

By moving a depth sensor around a room, we compute a 3D CAD model of the environment, capturing the room shape and contents such as chairs, desks, sofas, and tables. Rather than reconstructing geometry, we match, place, and align each…

Learning to understand dynamic 3D scenes from imagery is crucial for applications ranging from robotics to scene reconstruction. Yet, unlike other problems where large-scale supervised training has enabled rapid progress, directly…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

The Dynamic Saliency Prediction (DSP) task simulates the human selective attention mechanism to perceive the dynamic scene, which is significant and imperative in many vision tasks. Most of existing methods only consider visual cues, while…

Denoising diffusion probabilistic models that were initially proposed for realistic image generation have recently shown success in various perception tasks (e.g., object detection and image segmentation) and are increasingly gaining…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

How to improve the ability of scene representation is a key issue in vision-oriented decision-making applications, and current approaches usually learn task-relevant state representations within visual reinforcement learning to address this…

Modeling 4D scenes requires capturing both spatial structure and temporal motion, which is challenging due to the need for physically consistent representations of complex rigid and non-rigid motions. Existing approaches mainly rely on…

Unsupervised learning with generative models has the potential of discovering rich representations of 3D scenes. While geometric deep learning has explored 3D-structure-aware representations of scene geometry, these models typically require…

Various deep learning techniques have been proposed to solve the single-view 2D-to-3D pose estimation problem. While the average prediction accuracy has been improved significantly over the years, the performance on hard poses with depth…