17 accepted papers
Stereo-based depth estimation is a cornerstone of computer vision, with state-of-the-art methods delivering accurate results in real time. For several applications such as autonomous navigation, however, it may be useful to trade accuracy for lower latency. We present Bi3D, a method that estimates d…
Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints. In this paper, we introduce Deep Gaussian Mixture Registrat…
This paper presents a new method to synthesize an image from arbitrary views and times given a collection of images of a dynamic scene. A key challenge for the novel view synthesis arises from dynamic scene reconstruction where epipolar geometry does not apply to the local motion of dynamic contents…
This paper presents an algorithm to reconstruct temporally consistent 3D meshes of deformable object instances from videos in the wild. Without requiring annotations of 3D mesh, 2D keypoints, or camera pose for each video frame, we pose video-based reconstruction as a self-supervised online adaptati…
We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D supervision, manually annotated keypoints, multi-view images of an o…
Capturing the shape and spatially-varying appearance (SVBRDF) of an object from images is a challenging task that has applications in both computer vision and graphics. Traditional optimization-based approaches often need a large number of images taken from multiple views in a controlled environment…
We address the unsupervised learning of several interconnected problems in low-level vision: single view depth prediction, camera motion estimation, optical flow, and segmentation of a video into the static scene and moving regions. Our key insight is that these four fundamental vision problems are…
Inverse rendering aims to estimate physical attributes of a scene, e.g., reflectance, geometry, and lighting, from image(s). Inverse rendering has been studied primarily for single objects or with methods that solve for only one of the scene attributes. We propose the first learning based approach t…
Depth sensing is crucial for 3D reconstruction and scene understanding. Active depth sensors provide dense metric measurements, but often suffer from limitations such as restricted operating ranges, low spatial resolution, sensor interference, and high power consumption. In this paper, we propose a…
This paper proposes a deep neural architecture, PlaneRCNN, that detects and reconstructs piecewise planar regions from a single RGB image. PlaneRCNN employs a variant of Mask R-CNN to detect planes with their plane parameters and segmentation masks. PlaneRCNN then refines an arbitrary number of segm…
Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or standing on the floor. In order to predict valid affordances…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The exact definitions of maps, however, are often application-s…
Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or hand-held), increasing the task complexity because the scene i…
Estimating surface reflectance (BRDF) is one key component for complete 3D scene capture, with wide applications in virtual reality, augmented reality, and human computer interaction. Prior work is either limited to controlled environments (e.g., gonioreflectometers, light stages or multi-camera dom…
We introduce a novel method to obtain high-quality 3D reconstructions from consumer RGB-D sensors. Our core idea is to simultaneously optimize for geometry encoded in a signed distance field (SDF), textures from automatically-selected keyframes, and their camera poses along with material and scene l…
Finding meaningful, structured representations of 3D point cloud data (PCD) has become a core task for spatial perception applications. In this paper we introduce a method for constructing compact generative representations of PCD at multiple levels of detail. As opposed to deterministic struct…
Automatic detection and classification of dynamic hand gestures in real-world systems intended for human computer interaction is challenging as: 1) there is a large diversity in how people perform gestures, making detection and classification difficult; 2) the system must work online in order to avo…