FroDO: From Detections to 3D Objects

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction of object instances from RGB video that infers object location, pose and shape in a coarse-to-fine manner. Key to FroDO is to embed object shapes in a novel learnt space that allows seamless switching between sparse point cloud and dense DeepSDF decoding. Given an input sequence of localized RGB frames, FroDO first aggregates 2D detections to instantiate a category-aware 3D bounding box per object. A shape code is regressed using an encoder network before optimizing shape and pose further under the learnt shape priors using sparse and dense shape representations. The optimization uses multi-view geometric, photometric and silhouette losses. We evaluate on real-world datasets, including Pix3D, Redwood-OS, and ScanNet, for single-view, multi-view, and multi-object reconstruction.Comment: To be published in CVPR 2020. The first two authors contributed equall

Research progress in polymer-ceramic nanocomposites for dielectric energy storage applications

Owing to the feature of ultrahigh power density, the dielectric capacitors play an increasingly important role in the field of industrial production, basic scientific research, aerospace, and military industry in recent years. However, the relatively low energy storage density of the dielectric capacitors generally leads to their big sizes, which is difficult to meet the miniaturization requirements of future devices. Polymer-ceramic nanocomposites can combine high permittivity of the ceramic fillers and the excellent breakdown strength of the polymer matrix, thus achieving excellent energy storage performance. At present, developing the polymer-ceramic nanocomposites with high energy storage density is the key to realize the miniaturization goal of dielectric capacitors in the future. The current research progress of polymer-ceramic nanocomposites for energy storage capacitor applications from three perspectives was systematically summarized, including regulation of the nanofillers, optimization of the interfaces, and design of the multilayer composite structure. Notably, the influences of the dimension, size, species, hierarchical structure of the nanofillers, interface optimization methods such as surface modification and core-shell structure construction, as well as multilayer structure design such as sandwich structure and gradient structure on the permittivity, breakdown strength and the energy storage density of the nanocomposites were introduced in detail. Meanwhile, the structure-activity relationships between the microstructure of nanocomposites and their energy storage properties were further analyzed and discussed. Finally, based on the challenges and shortcomings of the current research, the important development directions of this field in the future were proposed, including selecting the new 2D nanofillers, enhancing the energy storage efficiency, employing multimode combined optimization strategy, and constructing the corresponding dielectric capacitors