90 accepted papers
3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in novel view synthesis and 3D scene reconstruction, but its quality often degrades in real-world environments due to transient distractors, such as moving objects and varying shadows. Existing methods commonly rely on semantic cue…
Orthodontic treatment needs regular tooth alignment checks, but current methods depend on clinic visits, limiting remote care. With the emergence of 3D Gaussian Splatting (3DGS), realistic novel views can be synthesized, making it possible for clinicians to remotely monitor orthodontic conditions. H
Multi-view video reconstruction plays a vital role in computer vision, enabling applications in film production, virtual reality, and motion analysis. While recent advances such as 3D Gaussian Splatting have demonstrated impressive capabilities in dynamic scene reconstruction, they typically rely on
Designing learnable information-theoretic objectives for robot exploration remains challenging. Such objectives aim to guide exploration toward data that reduces uncertainty in model parameters, yet it is often unclear what information the collected data can actually reveal. Although reinforcement l…
3D Gaussian Splatting (3DGS) has emerged as a dominant novel-view synthesis technique, but its high memory consumption severely limits its applicability on edge devices. A growing number of 3DGS compression methods have been proposed to make 3DGS more efficient, yet most only focus on storage compre…
Scaling artist-designed meshes to high triangle numbers remains challenging for autoregressive generative models. Existing transformer-based methods suffer from long-sequence bottlenecks and limited quantization resolution, primarily due to the large number of tokens required and constrained quantiz
Neural Signed Distance Functions (SDFs) excel at reconstructing watertight manifolds but fail on thin structures and open boundaries due to strict inside-outside constraints. Conversely, Unsigned Distance Fields (UDFs) accommodate general geometries but suffer from gradient singularities at the zero…
3D Gaussian Splatting (3DGS) achieves impressive quality and rendering speed, but with millions of 3D Gaussians and significant storage and transmission costs. In this paper, we aim to develop a simple yet effective method called NeuralGS that compresses the original 3DGS into a compact representati
Digital images are often degraded by soft effects such as lens flare, haze, shadows, and reflections, which reduce aesthetics even though the underlying pixels remain partially visible. The prevailing works address these degradations in isolation, developing highly specialized, specialist models tha
Recent developments in monocular depth estimation methods enable high-quality depth estimation of single-view images but fail to estimate consistent video depth across different frames. Recent works address this problem by applying a video diffusion model to generate video depth conditioned on the i…
The field of diffusion-based 3D generation has experienced tremendous progress in recent times. However, existing 3D generative models often produce overly dense and unstructured meshes, which are in stark contrast to the compact, structured and clear-edged CAD models created by human modelers. We i…
In this paper, we present a 3D visual grounding method called CityAnchor for localizing an urban object in a city-scale point cloud. Recent developments in multiview reconstruction enable us to reconstruct city-scale point clouds but how to conduct visual grounding on such a large-scale urban point…
Three-dimensional scene generation is crucial in computer vision, with applications spanning autonomous driving and gaming. However, current methods offer limited or non-intuitive user control. In this work, we propose a method that uses scene graph as a user-friendly control format to generate outd…
Reconstructing 3D hand-face interactions with deformations from a single image is a challenging yet crucial task with broad applications in AR, VR, and gaming. The challenges stem from self-occlusions during single-view hand-face interactions, diverse spatial relationships between hands and face, co…
Our work aims to reconstruct hand-object interactions from a single-view image, which is a fundamental but ill-posed task.Unlike methods that reconstruct from videos, multi-view images, or predefined 3D templates, single-view reconstruction faces significant challenges due to inherent ambiguities an…
3D Gaussian Splatting (3DGS) is a prevailing technique to reconstruct large-scale 3D scenes from multiview images for novel view synthesis, like a room, a block, and even a city. Such large-scale scenes are not static with changes constantly happening in these scenes, like a new building being built…
In this paper, we propose MoDGS, a new pipeline to render novel-view images in dynamic scenes using only casually captured monocular videos. Previous monocular dynamic NeRF or Gaussian Splatting methods strongly rely on the rapid movement of input cameras to construct multiview consistency but fail…
We present NeCGS, the first neural compression paradigm, which can compress a geometry set encompassing thousands of detailed and diverse 3D mesh models by up to 900 times with high accuracy and preservation of detailed geometric structures. Specifically, we first propose TSDF-Def, a new implicit re…
Deep neural networks (DNNs) often exhibit out-of-distribution (OOD) overconfidence, producing overly confident predictions on OOD samples. We attribute this issue to the inherent over-complexity of DNNs and investigate two key aspects: capacity and nonlinearity. First, we demonstrate that reducing m…
The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between objects, remains underexplored in current 3D vision-languag…
In this paper, we propose VistaDream, a novel framework to reconstruct a 3D scene from a single-view image. Recent diffusion models enable generating high-quality novel-view images from a single-view input image. Most existing methods only concentrate on building the consistency between the input im…
Enabling virtual humans to dynamically and realistically respond to diverse auditory stimuli remains a key challenge in character animation, demanding the integration of perceptual modeling and motion synthesis. Despite its significance, this task remains largely unexplored. Most previous works have…
"We introduce Efficient Motion Diffusion Model (EMDM) for fast and high-quality human motion generation. Current state-of-the-art generative diffusion models have produced impressive results but struggle to achieve fast generation without sacrificing quality. On the one hand, previous works, like mo…
Deep neural networks (DNNs) often display overconfidence when encountering out-of-distribution (OOD) samples posing significant challenges in real-world applications. Capitalizing on the observation that responses on convolutional kernels are generally more pronounced for in-distribution (ID) sample…
Tooth motion generation is an essential task in digital orthodontic treatment for precise and quick dental healthcare, which aims to generate the whole intermediate tooth motion process given the initial pathological and target ideal tooth alignments. Most prior works for multi-agent motion plannin…
"This paper explores the problem of reconstructing temporally consistent surfaces from a 3D point cloud sequence without correspondence. To address this challenging task, we propose DynoSurf, an unsupervised learning framework integrating a template surface representation with a learnable deformatio…
In this paper, we introduce **Era3D**, a novel multiview diffusion method that generates high-resolution multiview images from a single-view image. Despite significant advancements in multiview generation, existing methods still suffer from camera prior mismatch, inefficacy, and low resolution, resu…
Surface parameterization plays an essential role in numerous computer graphics and geometry processing applications. Traditional parameterization approaches are designed for high-quality meshes laboriously created by specialized 3D modelers, thus unable to meet the processing demand for the current…
Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and discriminative cross-modality features by existing metric learning m…
3D Gaussian Splatting (3DGS) has recently revolutionized the field of neural rendering with its high fidelity and efficiency. However, 3DGS heavily depends on the initialized point cloud produced by Structure-from-Motion (SfM) techniques. When tackling large-scale scenes that unavoidably contain tex…
Depth estimation is a crucial task in computer vision, applicable to various domains such as 3D reconstruction, robotics, and autonomous driving. In particular, thermal-based depth estimation has unique advantages, including night-time vision. However, the existing depth estimation method remains ch…
Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain limited to short-horizon tasks and they are unable to replace the…
This paper presents a flexible representation of neural radiance fields based on multi-plane images (MPI), for high-quality view synthesis of complex scenes. MPI with Normalized Device Coordinate (NDC) parameterization is widely used in NeRF learning for its simple definition, easy calculation, and…
Adversarial attacks on 3D point clouds often exhibit unsatisfactory imperceptibility, which primarily stems from the disregard for manifold-aware distortion, i.e., distortion of the underlying 2-manifold surfaces. In this paper, we develop novel manifold constraints to reduce such distortion, aiming…
We propose a Pose-Free Large Reconstruction Model (PF-LRM) for reconstructing a 3D object from a few unposed images even with little visual overlap, while simultaneously estimating the relative camera poses in ~1.3 seconds on a single A100 GPU. PF-LRM is a highly scalable method utilizing self-atten…
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. Th…
Generative adversarial networks (GANs) usually struggle in learning from highly diverse data, whose underlying manifold is complex. In this work, we revisit the mathematical foundations of GANs, and theoretically reveal that the native adversarial loss for GAN training is insufficient to fix the pro…
The field of 3D detailed human mesh reconstruction has made significant progress in recent years. However current methods still face challenges when used in industrial applications due to unstable results low-quality meshes and a lack of UV unwrapping and skinning weights. In this paper we present S…
In this paper, we present a novel diffusion model called SyncDreamer that generates multiview-consistent images from a single-view image. Using pretrained large-scale 2D diffusion models, recent work Zero123 demonstrates the ability to generate plausible novel views from a single-view image of an ob…
"Controllable human motion synthesis is essential for applications in AR/VR, gaming and embodied AI. Existing methods often focus solely on either language or full trajectory control, lacking precision in synthesizing motions aligned with user-specified trajectories, especially for multi-joint contr…
A diffusion model which is formulated to produce an image using thousands of denoising steps usually suffers from a slow inference speed. Existing acceleration algorithms simplify the sampling by skipping most steps yet exhibit considerable performance degradation. By viewing the generation of diffu…
In this work we introduce Wonder3D a novel method for generating high-fidelity textured meshes from single-view images with remarkable efficiency. Recent methods based on the Score Distillation Sampling (SDS) loss methods have shown the potential to recover 3D geometry from 2D diffusion priors but t…
The Signed Distance Function (SDF), as an implicit surface representation, provides a crucial method for reconstructing a watertight surface from unorganized point clouds. The SDF has a fundamental relationship with the principles of surface vector calculus. Given a smooth surface, there exists a th…
3D reconstruction techniques have widely been used for digital documentation of archaeological fragments. However, efficient digital capture of fragments remains as a challenge. In this work, we aim to develop a portable, high-throughput, and accurate reconstruction system for efficient digitization…
Contrastive Language-Image Pre-training (CLIP) achieves promising results in 2D zero-shot and few-shot learning. Despite the impressive performance in 2D, applying CLIP to help the learning in 3D scene understanding has yet to be explored. In this paper, we make the first attempt to investigate how…
Adversarial attack on point clouds plays a vital role in evaluating and improving the adversarial robustness of 3D deep learning models. Current attack methods are mainly applied by point perturbation in a non-manifold manner. In this paper, we formulate a novel manifold attack, which deforms the un…
This paper presents a novel grid-based NeRF called F^2-NeRF (Fast-Free-NeRF) for novel view synthesis, which enables arbitrary input camera trajectories and only costs a few minutes for training. Existing fast grid-based NeRF training frameworks, like Instant-NGP, Plenoxels, DVGO, or TensoRF, are ma…
We present a learning-based method, namely GeoUDF, to tackle the long-standing and challenging problem of reconstructing a discrete surface from a sparse point cloud. To be specific, we propose a geometry-guided learning method for UDF and its gradient estimation that explicitly formulates the unsig…
Understanding dynamic hand motions and actions from egocentric RGB videos is a fundamental yet challenging task due to self-occlusion and ambiguity. To address occlusion and ambiguity, we develop a transformer-based framework to exploit temporal information for robust estimation. Noticing the differ…
We present a novel method called NeTO, for capturing the 3D geometry of solid transparent objects from 2D images via volume rendering. Reconstructing transparent objects is a very challenging task, which is ill-suited for general-purpose reconstruction techniques due to the specular light transport…
We present a novel method, called NeuralUDF, for reconstructing surfaces with arbitrary topologies from 2D images via volume rendering. Recent advances in neural rendering based reconstruction have achieved compelling results. However, these methods are limited to objects with closed surfaces since…
Geodesics play a critical role in many geometry processing applications. Traditional algorithms for computing geodesics on 3D mesh models are often inefficient and slow, which make them impractical for scenarios requiring extensive querying of arbitrary point-to-point geodesics. Recently, deep impli…
In this paper, we present a new method for the multiview registration of point cloud. Previous multiview registration methods rely on exhaustive pairwise registration to construct a densely-connected pose graph and apply Iteratively Reweighted Least Square (IRLS) on the pose graph to compute the sca…
We propose a method, named DualMesh-UDF, to extract a surface from unsigned distance functions (UDFs), encoded by neural networks, or neural UDFs. Neural UDFs are becoming increasingly popular for surface representation because of their versatility in presenting surfaces with arbitrary topologies, a…
In this paper, we introduce a set of simple yet effective TOken REduction (TORE) strategies for Transformer-based Human Mesh Recovery from monocular images. Current SOTA performance is achieved by Transformer-based structures. However, they suffer from high model complexity and computation cost caus…
Vision foundation models such as Contrastive Vision-Language Pre-training (CLIP) and Segment Anything (SAM) have demonstrated impressive zero-shot performance on image classification and segmentation tasks. However, the incorporation of CLIP and SAM for label-free scene understanding has yet to be e…
Large-scale vision-language pretrained (VLP) models like CLIP have shown remarkable performance on various downstream cross-modal tasks. However, they are usually biased towards English due to the lack of sufficient non-English image-text pairs. Existing multilingual VLP methods often learn retrieva…
"Scalable 6D pose estimation for rigid objects from RGB images aims at handling multiple objects and generalizing to novel objects. Building on a well-known auto-encoding framework to cope with object symmetry and the lack of labeled training data, we achieve scalability by disentangling the latent…
Speech-driven 3D facial animation is challenging due to the complex geometry of human faces and the limited availability of 3D audio-visual data. Prior works typically focus on learning phoneme-level features of short audio windows with limited context, occasionally resulting in inaccurate lip movem…
"In this paper, we present a generalizable model-free 6-DoF object pose estimator called Gen6D. Existing generalizable pose estimators either need the high-quality object models or require additional depth maps or object masks in test time, which significantly limits their application scope. In cont…
Soft robots, with advantages of high adaptability to the environment, relatively easy and simple fabrication process as well as promising performances, have been thoroughly investigated and widely applied lately, the superiority of which has been proved in areas such as medicine, industry, daily lif
Understanding human intentions during interactions has been a long-lasting theme, that has applications in human-robot interaction, virtual reality and surveillance. In this study, we focus on full-body human interactions with large-sized daily objects and aim to predict the future states of objects
"Reconstructing 3D indoor scenes from 2D images is an important task in many computer vision and graphics applications. A main challenge in this task is that large texture-less areas in typical indoor scenes make existing methods struggle to produce satisfactory reconstruction results. We propose a…
We present a new neural representation, called Neural Ray (NeuRay), for the novel view synthesis task. Recent works construct radiance fields from image features of input views to render novel view images, which enables the generalization to new scenes. However, due to occlusions, a 3D point may be…
"Estimating the pose of a moving camera from monocular video is a challenging problem, especially due to the presence of moving objects in dynamic environments, where the performance of existing camera pose estimation methods are susceptible to pixels that are not geometrically consistent. To tackle…
Blind face restoration is to recover a high-quality face image from unknown degradations. As face image contains abundant contextual information, we propose a method, RestoreFormer, which explores fully-spatial attentions to model contextual information and surpasses existing works that use local co…
We propose a method for self-supervised image representation learning under the guidance of 3D geometric consistency. Our intuition is that 3D geometric consistency priors such as smooth regions and surface discontinuities may imply consistent semantics or object boundaries, and can act as strong cu…
"We introduce SparseNeuS, a novel neural rendering based method for the task of surface reconstruction from multi-view images. This task becomes more difficult when only sparse images are provided as input, a scenario where existing neural reconstruction approaches usually produce incomplete or dist…
This paper demonstrates that multilingual pretraining and multilingual fine-tuning are both critical for facilitating cross-lingual transfer in zero-shot translation, where the neural machine translation (NMT) model is tested on source languages unseen during supervised training. Following this idea…
We propose a deep visuo-tactile model for real-time estimation of the liquid inside a deformable container in a proprioceptive way. We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our specific tactile sensor without any extra sensor calibrati…
This paper presents a neural network for robust normal estimation on point clouds, named AdaFit, that can deal with point clouds with noise and density variations. Existing works use a network to learn point-wise weights for weighted least squares surface fitting to estimate the normals, which has d…
We present a novel method for single image depth estimation using surface normal constraints. Existing depth estimation methods either suffer from the lack of geometric constraints, or are limited to the difficulty of reliably capturing geometric context, which leads to a bottleneck of depth estimat…
Overconfident predictions on out-of-distribution (OOD) samples is a thorny issue for deep neural networks. The key to resolve the OOD overconfidence issue inherently is to build a subset of OOD samples and then suppress predictions on them. This paper proposes the Chamfer OOD examples (CODEs), whose…
Motion coherence is an important clue for distinguishing true correspondences from false ones. Modeling motion coherence on sparse putative correspondences is challenging due to their sparsity and uneven distributions. Existing works on motion coherence are sensitive to parameter settings and have d…
We present a novel method for multi-view depth estimation from a single video, which is a critical task in various applications, such as perception, reconstruction and robot navigation. Although previous learning-based methods have demonstrated compelling results, most works estimate depth maps of i…
We present a novel neural surface reconstruction method, called NeuS, for reconstructing objects and scenes with high fidelity from 2D image inputs. Existing neural surface reconstruction approaches, such as DVR [Niemeyer et al., 2020] and IDR [Yariv et al., 2020], require foreground mask as supervi…
Personalized video highlight detection aims to shorten a long video to interesting moments according to a user's preference, which has recently raised the community's attention. Current methods regard the user's history as holistic information to predict the user's preference but negating the inhere…
We introduce Point2Skeleton, an unsupervised method to learn skeletal representations from point clouds. Existing skeletonization methods are limited to tubular shapes and the stringent requirement of watertight input, while our method aims to produce more generalized skeletal representations for co…
Previous work mainly focuses on improving cross-lingual transfer for NLU tasks with a multilingual pretrained encoder (MPE), or improving the performance on supervised machine translation with BERT. However, it is under-explored that whether the MPE can help to facilitate the cross-lingual transfera…
Soft-robotic manipulators, with their closed-chamber elastomeric actuators, natural water-sealing and inherent compliance, are ideal for underwater applications for compact, lightweight, and dexterous manipulation tasks. However, their low structure rigidity makes soft robots highly prone to underwa
Estimating 6D poses of rigid objects from RGB images is an important but challenging task. This is especially true for textureless objects with strong symmetry, since they have only sparse visual features to be leveraged for the task and their symmetry leads to pose ambiguity. The implicit encoding
We propose an unsupervised learning framework with the pretext task of finding dense correspondences between point cloud shapes from the same category based on the cycle-consistency formulation. In order to learn discriminative pointwise features from point cloud data, we incorporate in the formulat…
We explore how to enable machines to model 3D shapes like human modelers using deep reinforcement learning (RL). In 3D modeling software like Maya, a modeler usually creates a mesh model in two steps: (1) approximating the shape using a set of primitives; (2) editing the meshes of the primitives to…
We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate depth at high accuracy, 3D point clouds exported from their…
Determining optimal target tooth arrangements is a key step of treatment planning in digital orthodontics. Existing practice for specifying the target tooth arrangement involves tedious manual operations with the outcome quality depending heavily on the experience of individual specialists, leading…
Learning structures of 3D shapes is a fundamental problem in the field of computer graphics and geometry processing. We present a simple yet interpretable unsupervised method for learning a new structural representation in the form of 3D structure points. The 3D structure points produced by our meth…
We present a novel approach to align partial 3D reconstructions which may not have substantial overlap. Using floorplan priors, our method jointly predicts a room layout and estimates the transformations from a set of partial 3D data. Unlike the existing methods relying on feature descriptors to est…
This paper proposes a method that uses deep convolutional neural networks to achieve automatic and accurate tooth instance segmentation and identification from CBCT (cone beam CT) images for digital dentistry. The core of our method is a two-stage network. In the first stage, an edge map is extracte…
We present a decentralized algorithm for group-based coherent and reciprocal multi-agent navigation. In addition to generating collision-free trajectories for each agent, our approach is able to simulate macroscopic group movements and proxemic behaviors that result in coherent navigation. Our appro…
Recent work on scene classification still makes use of generic CNN features in a rudimentary manner. In this paper, we present a novel pipeline built upon deep CNN features to harvest discriminative visual objects and parts for scene classification. We first use a region proposal technique to genera…