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Our goal is to automatically reconstruct 3D objects from a single image, by using prior 3D shape models of classes. The shape models, defined as a collection of oriented primitive shapes centered at fixed 3D positions, can be learned from a few labeled images for each class. The 3D class model can then be used to estimate the 3D shape of an object instance, including occluded parts, from a single image. We provide a quantitative evaluation of the shape estimation process on real objects and demonstrate its usefulness in three applications: robot manipulation, object detection, and generating 3D 'pop-up' models from photos.
