5 papers
Paparazzo: Active Mapping of Moving 3D Objects
Davide Allegro, Shiyao Li, Stefano Ghidoni +1
Current 3D mapping pipelines generally assume static environments, which limits their ability to accurately capture and reconstruct moving objects. To address this limitation, we i…
SkelSplat: Robust Multi-view 3D Human Pose Estimation with Differentiable Gaussian Rendering
Laura Bragagnolo, Leonardo Barcellona, Stefano Ghidoni
Accurate 3D human pose estimation is fundamental for applications such as augmented reality and human-robot interaction. State-of-the-art multi-view methods learn to fuse predictio…
Leveraging Multi-View Weak Supervision for Occlusion-Aware Multi-Human Parsing
Laura Bragagnolo, Matteo Terreran, Leonardo Barcellona +1
Multi-human parsing is the task of segmenting human body parts while associating each part to the person it belongs to, combining instance-level and part-level information for fine…
Calib3R: Hand-Eye Calibration and 3D Metric-Scaled Scene Reconstruction with 3D Foundation Models
Davide Allegro, Matteo Terreran, Stefano Ghidoni
Robots often rely on RGB images for tasks like manipulation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the r…
Dream to Manipulate: Compositional World Models Empowering Robot Imitation Learning with Imagination
Leonardo Barcellona, Andrii Zadaianchuk, Davide Allegro +3
A world model provides an agent with a representation of its environment, enabling it to predict the causal consequences of its actions. Current world models typically cannot direc…