Related papers: Renderable Neural Radiance Map for Visual Navigati…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…
World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-level reconstruction of future scenes, such detailed rendering…
Neural Radiance Fields (NeRF) have emerged as a powerful paradigm for 3D scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics,…
Recent history has seen a tremendous growth of work exploring implicit representations of geometry and radiance, popularized through Neural Radiance Fields (NeRF). Such works are fundamentally based on a (implicit) volumetric representation…
This work targets at using a general deep learning framework to synthesize free-viewpoint images of arbitrary human performers, only requiring a sparse number of camera views as inputs and skirting per-case fine-tuning. The large variation…
Simulating camera sensors is a crucial task in autonomous driving. Although neural radiance fields are exceptional at synthesizing photorealistic views in driving simulations, they still fail to generate extrapolated views. This paper…
Neural Radiance Field (NeRF) has been proposed as an innovative advancement in 3D reconstruction techniques. However, little research has been conducted on the issues of information confidentiality and security to NeRF, such as…
We present a real-time neural radiance caching method for path-traced global illumination. Our system is designed to handle fully dynamic scenes, and makes no assumptions about the lighting, geometry, and materials. The data-driven nature…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed in a low-dimensional latent state space that embeds images.…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Semantic 2D maps are commonly used by humans and machines for navigation purposes, whether it's walking or driving. However, these maps have limitations: they lack detail, often contain inaccuracies, and are difficult to create and…
Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…
The proposed method, Neural Radiance Projection (NeRP), addresses the three most fundamental shortages of training such a convolutional neural network on X-ray image segmentation: dealing with missing/limited human-annotated datasets;…
In this work, we propose the use of Neural Radiance Fields (NeRF) as a scene representation for visual localization. Recently, NeRF has been employed to enhance pose regression and scene coordinate regression models by augmenting the…
Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…
Neural Radiance Fields (NeRFs) have been remarkably successful at synthesizing novel views of 3D scenes by optimizing a volumetric scene function. This scene function models how optical rays bring color information from a 3D object to the…
We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…