相关论文: CanoVerse: 3D Object Scalable Canonicalization and…

From a single image, humans are able to perceive the full 3D shape of an object by exploiting learned shape priors from everyday life. Contemporary single-image 3D reconstruction algorithms aim to solve this task in a similar fashion, but…

Inspired by Geoffrey Hinton emphasis on generative modeling, To recognize shapes, first learn to generate them, we explore the use of 3D diffusion models for object classification. Leveraging the density estimates from these models, our…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…

Service robots, in general, have to work independently and adapt to the dynamic changes happening in the environment in real-time. One important aspect in such scenarios is to continually learn to recognize newer object categories when they…

Promising results have been achieved recently in category-level manipulation that generalizes across object instances. Nevertheless, it often requires expensive real-world data collection and manual specification of semantic keypoints for…

Human pose estimation from single images is a challenging problem in computer vision that requires large amounts of labeled training data to be solved accurately. Unfortunately, for many human activities (\eg outdoor sports) such training…

Visual grouping -- operationalized through tasks such as instance segmentation, visual grounding, and object detection -- enables applications ranging from robotic perception to photo editing. These fundamental problems in computer vision…

As a basic component of SE(3)-equivariant deep feature learning, steerable convolution has recently demonstrated its advantages for 3D semantic analysis. The advantages are, however, brought by expensive computations on dense, volumetric…

In many applications, we desire neural networks to exhibit invariance or equivariance to certain groups due to symmetries inherent in the data. Recently, frame-averaging methods emerged to be a unified framework for attaining symmetries…

Parts represent a basic unit of geometric and semantic similarity across different objects. We argue that part knowledge should be composable beyond the observed object classes. Towards this, we present 3D Compositional Zero-shot Learning…

This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to…

In this paper, we present Consistent4D, a novel approach for generating 4D dynamic objects from uncalibrated monocular videos. Uniquely, we cast the 360-degree dynamic object reconstruction as a 4D generation problem, eliminating the need…

Category-level object pose estimation aims to predict the pose and size of arbitrary objects in specific categories. Existing methods struggle with the inherent incompleteness of observed point clouds, which limits their ability to capture…

Pedestrian motion, due to its causal nature, is strongly influenced by domain gaps arising from discrepancies between training and testing data distributions. Focusing on 3D human pose estimation, this work presents a controllable human…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

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…

Humans can easily deduce the relative pose of a previously unseen object, without labeling or training, given only a single query-reference image pair. This is arguably achieved by incorporating i) 3D/2.5D shape perception from a single…

Continuous/Lifelong learning of high-dimensional data streams is a challenging research problem. In fact, fully retraining models each time new data become available is infeasible, due to computational and storage issues, while na\"ive…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…