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Scene flow estimation is a crucial component in the development of autonomous driving and 3D robotics, providing valuable information for environment perception and navigation. Despite the advantages of learning-based scene flow estimation…
Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D…
Deep learning approaches have achieved great success in addressing the problem of optical flow estimation. The keys to success lie in the use of cost volume and coarse-to-fine flow inference. However, the matching problem becomes ill-posed…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
Denoising Diffusion Probabilistic Models (DDPMs) have established a new state-of-the-art in generative image synthesis, yet their deployment is hindered by significant computational overhead during inference, often requiring up to 1,000…
In this work, we pioneer Semantic Flow, a neural semantic representation of dynamic scenes from monocular videos. In contrast to previous NeRF methods that reconstruct dynamic scenes from the colors and volume densities of individual…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
This study introduces a novel approach to online embedding of multi-scale CLIP (Contrastive Language-Image Pre-Training) features into 3D maps. By harnessing CLIP, this methodology surpasses the constraints of conventional…
Encoding 3D points is one of the primary steps in learning-based implicit scene representation. Using features that gather information from neighbors with multi-resolution grids has proven to be the best geometric encoder for this task.…
Analysis of large dynamic networks is a thriving research field, typically relying on 2D graph representations. The advent of affordable head mounted displays however, sparked new interest in the potential of 3D visualization for immersive…
The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
We propose a diffusion model-based approach, FloAtControlNet to generate cinemagraphs composed of animations of human clothing. We focus on human clothing like dresses, skirts and pants. The input to our model is a text prompt depicting the…
Inspired by the classical fractional cascading technique, we introduce new techniques to speed up the following type of iterated search in 3D: The input is a graph $\mathbf{G}$ with bounded degree together with a set $H_v$ of 3D hyperplanes…
Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…
Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR, Robotics, and Autonomous driving. The lack of real, non-simulated, labeled…
Flowcharts are typically presented as images, driving the trend of using vision-language models (VLMs) for end-to-end flowchart understanding. However, two key challenges arise: (i) Limited controllability--users have minimal influence over…
We introduce Neural Flow Maps, a novel simulation method bridging the emerging paradigm of implicit neural representations with fluid simulation based on the theory of flow maps, to achieve state-of-the-art simulation of inviscid fluid…
We propose and study a novel cross-reality environment that seamlessly integrates a monoscopic 2D surface (an interactive screen with touch and pen input) with a stereoscopic 3D space (an augmented reality HMD) to jointly host spatial data…
Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric…