51 citations · 153 across the 25 of their papers we have counts for
5 papers · 1 filter
Matisse: Evidence-Space Reasoning for Active 3D Reconstruction
Xihang Yu, Kaichen Zhou, Lorenzo Shaikewitz +4
How can a 3D reconstruction system acquire and retain useful information to understand the geometry of a scene from partial views under a limited computation budget? Existing activ…
Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation
Hyungtae Lim, Nathan Hughes, Xihang Yu +5
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph…
Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics
Ceng Zhang, Wan Su, Mohamed Samshad +2
Hierarchical 3D Scene Graphs (3DSG) have emerged as an actionable and scalable representation for long-term autonomy incorporating metric, semantic, and topological information in…
Object Pose and Shape Estimation for Grasping: Does it Work?
Pavan Karke, Kushal Shah, Gaurav Singh +3
The problem of object pose and shape estimation has seen key advancements lately. Encoder-decoder (e.g., SAM3D, LRM, CRISP) and diffusion-based models (e.g., InstantMesh, Zero123,…
Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling
Xihang Yu, Rajat Talak, Lorenzo Shaikewitz +1
In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions -- which fit the sensor data -- can still be physically incorrect. For instance, w…