相关论文: Category-Level 3D Correspondence in Camera Space v…

3D morphable models (3DMMs) are a powerful tool to represent the possible shapes and appearances of an object category. Given a single test image, 3DMMs can be used to solve various tasks, such as predicting the 3D shape, pose, semantic…

We study the 3D object understanding task for manipulating everyday objects with different material properties (diffuse, specular, transparent and mixed). Existing monocular and RGB-D methods suffer from scale ambiguity due to missing or…

Category-level 3D pose estimation is a fundamentally important problem in computer vision and robotics, e.g. for embodied agents or to train 3D generative models. However, so far methods that estimate the category-level object pose require…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

Recovering the metric 3D shape from a single image is particularly relevant for robotics and embodied intelligence applications, where accurate spatial understanding is crucial for navigation and interaction with environments. Usually, the…

While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations. The problem becomes even more challenging when moving to category-level 6D pose,…

Semantic correspondence made tremendous progress through the recent advancements of large vision models (LVM). While these LVMs have been shown to reliably capture local semantics, the same can currently not be said for capturing global…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

We present a framework for learning 3D object shapes and dense cross-object 3D correspondences from just an unaligned category-specific image collection. The 3D shapes are generated implicitly as deformations to a category-specific signed…

Recent advances in 3D datasets and multimodal models have greatly improved natural language 3D scene understanding. However, most 3D referring segmentation methods do not explicitly represent the observer viewpoint, making spatial relations…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Learning deformable 3D objects from 2D images is often an ill-posed problem. Existing methods rely on explicit supervision to establish multi-view correspondences, such as template shape models and keypoint annotations, which restricts…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…

Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several works have shown progress towards object compositional…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…

Foundation features from self-supervised vision models and text-to-image diffusion models have proven effective for semantic correspondence estimation. However, because these features are learned primarily from 2D image objectives, they…