Related papers: An Efficient Volumetric Mesh Representation for Re…
In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…
Searching for objects in indoor organized environments such as homes or offices is part of our everyday activities. When looking for a target object, we jointly reason about the rooms and containers the object is likely to be in; the same…
The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…
Performing a real-time and accurate instrument segmentation from videos is of great significance for improving the performance of robotic-assisted surgery. We identify two important clues for surgical instrument perception, including local…
Rendering volumetric scattering media, including clouds, fog, smoke, and other complex materials, is crucial for realism in computer graphics. Traditional path tracing, while unbiased, requires many long path samples to converge in scenes…
To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…
Image hashing provides compact representations for efficient storage and retrieval but is inherently limited to global comparison and cannot reason about where changes occur. This limitation prevents hashing from being directly applicable…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
Due to the limit of mesh density, the improvement of the spatial precision of numerical computation always leads to a decrease in computing efficiency. Aiming at this inability of numerical computation, we propose a novel method for…
3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…
City-scale 3D surface reconstruction from multiview images for downstream 3D simulation, poses highly challenging problems due to the scale and complexity of urban scenes. Existing city-scale 3D reconstruction methods based on NeRF,…
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…
We propose a novel approach to reconstruct RGB-D indoor scene based on plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed from it, and generates a lightweight, low-polygonal mesh with clear…
In this paper, we present a 3D reconstruction and rendering framework termed Mesh-Learner that is natively compatible with traditional rasterization pipelines. It integrates mesh and spherical harmonic (SH) texture (i.e., texture filled…
NeRF-based SLAM has recently achieved promising results in tracking and reconstruction. However, existing methods face challenges in providing sufficient scene representation, capturing structural information, and maintaining global…
Neural implicit surface reconstruction has become a new trend in reconstructing a detailed 3D shape from images. In previous methods, however, the 3D scene is only encoded by the MLPs which do not have an explicit 3D structure. To better…
We present a new effective way for performance capture of deforming meshes with fine-scale time-varying surface detail from multi-view video. Our method builds up on coarse 4D surface reconstructions, as obtained with commonly used…
Automatic mesh-based shape generation is of great interest across a wide range of disciplines, from industrial design to gaming, computer graphics and various other forms of digital art. While most traditional methods focus on primitive…
Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…