Related papers: Object-Aware Guidance for Autonomous Scene Reconst…

With the rapid advancement of hardware and software technologies, research in autonomous driving has seen significant growth. The prevailing framework for multi-sensor autonomous driving encompasses sensor installation, perception, path…

Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…

We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…

Manually selecting viewpoints or using commonly available flight planners like circular path for large-scale 3D reconstruction using drones often results in incomplete 3D models. Recent works have relied on hand-engineered heuristics such…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

In this paper, we explore the problem of interesting scene prediction for mobile robots. This area is currently underexplored but is crucial for many practical applications such as autonomous exploration and decision making. Inspired by…

Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…

We, as human beings, can understand and picture a familiar scene from arbitrary viewpoints given a single image, whereas this is still a grand challenge for computers. We hereby present a novel solution to mimic such human perception…

In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…

We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…

Implicit neural fields have made remarkable progress in reconstructing 3D surfaces from multiple images; however, they encounter challenges when it comes to separating individual objects within a scene. Previous work has attempted to tackle…

The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…

Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…