تقرير
Zero-Shot Multi-Object Shape Completion
| العنوان: | Zero-Shot Multi-Object Shape Completion |
|---|---|
| المؤلفون: | Iwase, Shun, Liu, Katherine, Guizilini, Vitor, Gaidon, Adrien, Kitani, Kris, Ambrus, Rares, Zakharov, Sergey |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Computer Vision and Pattern Recognition |
| الوصف: | We present a 3D shape completion method that recovers the complete geometry of multiple objects in complex scenes from a single RGB-D image. Despite notable advancements in single object 3D shape completion, high-quality reconstructions in highly cluttered real-world multi-object scenes remains a challenge. To address this issue, we propose OctMAE, an architecture that leverages an Octree U-Net and a latent 3D MAE to achieve high-quality and near real-time multi-object shape completion through both local and global geometric reasoning. Because a na\"ive 3D MAE can be computationally intractable and memory intensive even in the latent space, we introduce a novel occlusion masking strategy and adopt 3D rotary embeddings, which significantly improves the runtime and shape completion quality. To generalize to a wide range of objects in diverse scenes, we create a large-scale photorealistic dataset, featuring a diverse set of 12K 3D object models from the Objaverse dataset which are rendered in multi-object scenes with physics-based positioning. Our method outperforms the current state-of-the-art on both synthetic and real-world datasets and demonstrates a strong zero-shot capability. Comment: 21 pages, 8 figues |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2403.14628 |
| رقم الأكسشن: | edsarx.2403.14628 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |