CODA: Depth-Aligned Scene Completion and Object Decomposition from a Single RGB-D Image
Robots operating safely in cluttered everyday environments often need to infer scene geometry from partial observations. Methods that detect objects in 2D and reconstruct them independently struggle in such scenes: a missed object is never reconstructed, a merged detection can fuse two objects, and separately reconstru...
Dongwon Son, Junhyek Han, Yoon-Je Cho et al.
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