相关论文: Learning Dynamic Scene Reconstruction with Sinusoi…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…

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…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

We propose a new loss function that we call Laplacian loss, based on spatio-temporal Laplacian representation of the motion as a graph. This loss function is intended to be used in training models for motion reconstruction through 3D human…

We present Tensor4D, an efficient yet effective approach to dynamic scene modeling. The key of our solution is an efficient 4D tensor decomposition method so that the dynamic scene can be directly represented as a 4D spatio-temporal tensor.…

Accurately estimating the 6D pose of objects is crucial for many applications, such as robotic grasping, autonomous driving, and augmented reality. However, this task becomes more challenging in poor lighting conditions or when dealing with…

In tomographic imaging, anatomical structures are reconstructed by applying a pseudo-inverse forward model to acquired signals. Geometric information within this process is usually depending on the system setting only, i. e., the scanner…

This paper addresses the problem of preference learning, which aims to align robot behaviors through learning user specific preferences (e.g. "good pull-over location") from visual demonstrations. Despite its similarity to learning factual…

Predicting human motion from historical pose sequence is crucial for a machine to succeed in intelligent interactions with humans. One aspect that has been obviated so far, is the fact that how we represent the skeletal pose has a critical…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into…

Object pose estimation is a core computer vision problem and often an essential component in robotics. Pose estimation is usually approached by seeking the single best estimate of an object's pose, but this approach is ill-suited for tasks…

The recent neural surface reconstruction by volume rendering approaches have made much progress by achieving impressive surface reconstruction quality, but are still limited to dense and highly accurate posed views. To overcome such…

This paper proposes the first self-supervised 6D object pose prediction from multimodal RGB+polarimetric images. The novel training paradigm comprises 1) a physical model to extract geometric information of polarized light, 2) a…

We propose a method SPGNet for 3D human pose estimation that mixes multi-dimensional re-projection into supervised learning. In this method, the 2D-to-3D-lifting network predicts the global position and coordinates of the 3D human pose.…

Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately.…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…