An official website of the United States government
We present multiresolution tree-structured networks to process point clouds for 3D shape understanding and generation tasks. Our network represents a 3D shape as a set of locality-preserving 1D ordered list of points at multiple resolutions. This allows efficient feed-forward processing through 1D convolutions, coarse-to-fine analysis through a multi-grid architecture, and it leads to faster convergence and small memory footprint during training. The proposed tree-structured encoders can be used to classify shapes and outperform existing point-based architectures on shape classification benchmarks, while tree-structured decoders can be used for generating point clouds directly and they outperform existing approaches for image-to-shape inference tasks learned using the ShapeNet dataset. Our model also allows unsupervised learning of point-cloud based shapes by using a variational autoencoder, leading to higher-quality generated shapes.
more »
« less
Diverse Plausible Shape Completions from Ambiguous Depth Images
We propose PSSNet, a network architecture for generating diverse plausible 3D reconstructions from a single 2.5D depth image. Existing methods tend to produce only small variations on a single shape, even when multiple shapes are consistent with an observation. To obtain diversity we alter a Variational Auto Encoder by providing a learned shape bounding box feature as side information during training. Since these features are known during training, we are able to add a supervised loss to the encoder and noiseless values to the decoder. To evaluate, we sample a set of completions from a network, construct a set of plausible shape matches for each test observation, and compare using our plausible diversity metric defined over sets of shapes. We perform experiments using Shapenet mugs and partially-occluded YCB objects and find that our method performs comparably in datasets with little ambiguity, and outperforms existing methods when many shapes plausibly fit an observed depth image. We demonstrate one use for PSSNet on a physical robot when grasping objects in occlusion and clutter.
more »
« less
- Award ID(s):
- 1750489
- PAR ID:
- 10215887
- Date Published:
- Journal Name:
- Conference on Robot Learning (CoRL)
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
We present Neural Kernel Fields: a novel method for reconstructing implicit 3D shapes based on a learned kernel ridge regression. Our technique achieves state-of-the-art results when reconstructing 3D objects and large scenes from sparse oriented points, and can reconstruct shape categories outside the training set with almost no drop in accuracy. The core insight of our approach is that kernel methods are extremely effective for reconstructing shapes when the chosen kernel has an appropriate inductive bias. We thus factor the problem of shape reconstruction into two parts: (1) a backbone neural network which learns kernel parameters from data, and (2) a kernel ridge regression that fits the input points on-the-fly by solving a simple positive definite linear system using the learned kernel. As a result of this factorization, our reconstruction gains the benefits of datadriven methods under sparse point density while maintaining interpolatory behavior, which converges to the ground truth shape as input sampling density increases. Our experiments demonstrate a strong generalization capability to objects outside the train-set category and scanned scenes. Source code and pretrained models are available at https:// nv-tlabs.github.io/nkf.more » « less
-
We present a new weakly supervised learning-based method for generating novel category-specific 3D shapes from unoccluded image collections. Our method is weakly supervised and only requires silhouette annotations from unoccluded, category-specific objects. Our method does not require access to the object's 3D shape, multiple observations per object from different views, intra-image pixel correspondences, or any view annotations. Key to our method is a novel multi-projection generative adversarial network (MP-GAN) that trains a 3D shape generator to be consistent with multiple 2D projections of the 3D shapes, and without direct access to these 3D shapes. This is achieved through multiple discriminators that encode the distribution of 2D projections of the 3D shapes seen from a different views. Additionally, to determine the view information for each silhouette image, we also train a view prediction network on visualizations of 3D shapes synthesized by the generator. We iteratively alternate between training the generator and training the view prediction network. We validate our multi-projection GAN on both synthetic and real image datasets. Furthermore, we also show that multi-projection GANs can aid in learning other high-dimensional distributions from lower dimensional training datasets, such as material-class specific spatially varying reflectance properties from images.more » « less
-
Prior works for reconstructing hand-held objects from a single image train models on images paired with 3D shapes. Such data is challenging to gather in the real world at scale. Consequently, these approaches do not generalize well when presented with novel objects in in-the-wild settings. While 3D supervision is a major bottleneck, there is an abundance of a) in-the-wild raw video data showing hand-object interactions and b) synthetic 3D shape collections. In this paper, we propose modules to leverage 3D supervision from these sources to scale up the learning of models for reconstructing hand-held objects. Specifically, we extract multiview 2D mask supervision from videos and 3D shape priors from shape collections. We use these indirect 3D cues to train occupancy networks that predict the 3D shape of objects from a single RGB image. Our experiments in the challenging object generalization setting on in-the-wild MOW dataset show 11.6% relative improvement over models trained with 3D supervision on existing datasets.more » « less
-
Prior works for reconstructing hand-held objects from a single image train models on images paired with 3D shapes. Such data is challenging to gather in the real world at scale. Consequently, these approaches do not generalize well when presented with novel objects in in-the-wild settings. While 3D supervision is a major bottleneck, there is an abundance of a) in-the-wild raw video data showing hand-object interactions and b) synthetic 3D shape collections. In this paper, we propose modules to leverage 3D supervision from these sources to scale up the learning of models for reconstructing hand-held objects. Specifically, we extract multiview 2D mask supervision from videos and 3D shape priors from shape collections. We use these indirect 3D cues to train occupancy networks that predict the 3D shape of objects from a single RGB image. Our experiments in the challenging object generalization setting on in-the-wild MOW dataset show 11.6% relative improvement over models trained with 3D supervision on existing datasets.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
