相关论文: PlaneCycle: Training-Free 2D-to-3D Lifting of Foun…

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on…

This paper addresses metric 3D reconstruction of indoor scenes by exploiting their inherent geometric regularities with compact representations. Using planar 3D primitives - a well-suited representation for man-made environments - we…

Creating 3D assets from single-view images is a complex task that demands a deep understanding of the world. Recently, feed-forward 3D generative models have made significant progress by training large reconstruction models on extensive 3D…

3D plane reconstruction from a single image is a crucial yet challenging topic in 3D computer vision. Previous state-of-the-art (SOTA) methods have focused on training their system on a single dataset from either indoor or outdoor domain,…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…

We present an approach for the planar surface reconstruction of a scene from images with limited overlap. This reconstruction task is challenging since it requires jointly reasoning about single image 3D reconstruction, correspondence…

This paper presents a generalizable 3D plane detection and reconstruction framework named MonoPlane. Unlike previous robust estimator-based works (which require multiple images or RGB-D input) and learning-based works (which suffer from…

In recent years, there has been an explosion of 2D vision models for numerous tasks such as semantic segmentation, style transfer or scene editing, enabled by large-scale 2D image datasets. At the same time, there has been renewed interest…

Dense 3D convolutions provide high accuracy for perception but are too computationally expensive for real-time robotic systems. Existing tri-plane methods rely on 2D image features with interpolation, point-wise queries, and implicit MLPs,…

Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful human priors, limiting practicality, efficiency, and…

Wide-baseline panorama reconstruction has emerged as a highly effective and pivotal approach for not only achieving geometric reconstruction of the surrounding 3D environment, but also generating highly realistic and immersive novel views.…

We present a simple yet effective training-free approach for zero-shot 3D symmetry detection that leverages visual features from foundation vision models such as DINOv2. Our method extracts features from rendered views of 3D objects and…

Accurate machine-learning models for aerodynamic prediction are essential for accelerating shape optimization, yet remain challenging to develop for complex three-dimensional configurations due to the high cost of generating training data.…

In contrast to numerous NLP and 2D vision foundational models, learning a 3D foundational model poses considerably greater challenges. This is primarily due to the inherent data variability and diversity of downstream tasks. In this paper,…

In this paper, we develop a new method to automatically convert 2D line drawings from three orthographic views into 3D CAD models. Existing methods for this problem reconstruct 3D models by back-projecting the 2D observations into 3D space…

Two-hand reconstruction from monocular images is hampered by complex poses and severe occlusions, which often cause interaction misalignment and two-hand penetration. We address this by decoupling the problem into 2D structural alignment…

Feed-forward foundation models for multi-view 3-dimensional (3D) reconstruction have been trained on large-scale datasets of perspective images; when tested on wide field-of-view images, e.g., from a fisheye camera, their performance…

Large-scale pre-trained image-to-3D generative models have exhibited remarkable capabilities in diverse shape generations. However, most of them struggle to synthesize plausible 3D assets when the reference image is flat-colored like hand…

This paper presents AeroTraj, a system that enables fast, accurate, and automated reconstruction of 3D models of large buildings using a drone-mounted LiDAR. LiDAR point clouds can be used directly to assemble 3D models if their positions…