相关论文: CM-EVS: Sparse Panoramic RGB-D-Pose Data for Compl…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

Recent developments in differentiable and neural rendering have made impressive breakthroughs in a variety of 2D and 3D tasks, e.g. novel view synthesis, 3D reconstruction. Typically, differentiable rendering relies on a dense viewpoint…

We introduce YCB-Ev SD, a synthetic dataset of event-camera data at standard definition (SD) resolution for 6DoF object pose estimation. While synthetic data has become fundamental in frame-based computer vision, event-based vision lacks…

Panoramic images provide comprehensive scene information and are suitable for VR applications. Obtaining corresponding depth maps is essential for achieving immersive and interactive experiences. However, panoramic depth estimation presents…

Recently, large language models (LLMs) have been explored widely for 3D scene understanding. Among them, training-free approaches are gaining attention for their flexibility and generalization over training-based methods. However, they…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

Event cameras offer microsecond latency, high dynamic range, and low power consumption, making them ideal for real-time robotic perception under challenging conditions such as motion blur, occlusion, and illumination changes. However,…

Sparse RGBD scene completion is a challenging task especially when considering consistent textures and geometries throughout the entire scene. Different from existing solutions that rely on human-designed text prompts or predefined camera…

360 panoramic images are increasingly used in virtual reality, autonomous driving, and robotics for holistic scene understanding. However, current Vision-Language Models (VLMs) struggle with 3D spatial reasoning on Equirectangular…

We propose a method to learn, even using a dataset where objects appear only in sparsely sampled views (e.g. Pix3D), the ability to synthesize a pose trajectory for an arbitrary reference image. This is achieved with a cross-modal pose…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

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…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

We introduce the first learning-based dense matching algorithm, termed Equirectangular Projection-Oriented Dense Kernelized Feature Matching (EDM), specifically designed for omnidirectional images. Equirectangular projection (ERP) images,…

We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…

Despite significant progress, RGB-based trackers remain vulnerable to challenging imaging conditions, such as low illumination and fast motion. Event cameras offer a promising alternative by asynchronously capturing pixel-wise brightness…

360-degree images offer a significantly wider field of view compared to traditional pinhole cameras, enabling sparse sampling and dense 3D reconstruction in low-texture environments. This makes them crucial for applications in VR, AR, and…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

We introduce S2C-3D, a novel sparse-view 3D reconstruction framework for high-fidelity and complete scene reconstruction from as few as six to eight images. Our framework features three components: a specialized diffusion model for…