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

3D occupancy infers fine-grained 3D geometry and semantics which is critical for autonomous driving. Most existing approaches carry high compute costs, requiring dense 3D feature volume and cross-attention to effectively aggregate…

360 depth estimation has recently received great attention for 3D reconstruction owing to its omnidirectional field of view (FoV). Recent approaches are predominantly focused on cross-projection fusion with geometry-based re-projection:…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

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…

An efficient iterative Earth Mover's Distance (iEMD) algorithm for visual tracking is proposed in this paper. The Earth Mover's Distance (EMD) is used as the similarity measure to search for the optimal template candidates in…

Single-view 3D shape retrieval is a fundamental yet challenging task that is increasingly important with the growth of available 3D data. Existing approaches largely fall into two categories: those using contrastive learning to map point…

Reconstructing accurate surfaces from sparse multi-view images remains challenging due to severe geometric ambiguity and occlusions. Existing generalizable neural surface reconstruction methods primarily rely on cost volumes that summarize…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

Estimating the 3D pose of desktop objects is crucial for applications such as robotic manipulation. Many existing approaches to this problem require a depth map of the object for both training and prediction, which restricts them to opaque,…

Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…

Reconstructing 3D shape and pose of static objects from a single image is an essential task for various industries, including robotics, augmented reality, and digital content creation. This can be done by directly predicting 3D shape in…

Dense embedding models are commonly deployed in commercial search engines, wherein all the document vectors are pre-computed, and near-neighbor search (NNS) is performed with the query vector to find relevant documents. However, the…

This paper introduces Scene Completeness-Aware Depth Completion (SCADC) to complete raw lidar scans into dense depth maps with fine and complete scene structures. Recent sparse depth completion for lidars only focuses on the lower scenes…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

Addressing the incompleteness problem in knowledge graph remains a significant challenge. Current knowledge graph completion methods have their limitations. For example, ComDensE is prone to overfitting and suffers from the degradation with…

The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…

Depth estimation from a monocular 360{\deg} image is a burgeoning problem owing to its holistic sensing of a scene. Recently, some methods, \eg, OmniFusion, have applied the tangent projection (TP) to represent a 360{\deg}image and…