Related papers: Renderable Neural Radiance Map for Visual Navigati…
Implicit neural rendering techniques have shown promising results for novel view synthesis. However, existing methods usually encode the entire scene as a whole, which is generally not aware of the object identity and limits the ability to…
Neural Radiance Fields (NeRFs) implicitly model continuous three-dimensional scenes using a set of images with known camera poses, enabling the rendering of photorealistic novel views. However, existing NeRF-based methods encounter…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
Neural rendering combines ideas from classical computer graphics and machine learning to synthesize images from real-world observations. NeRF, short for Neural Radiance Fields, is a recent innovation that uses AI algorithms to create 3D…
Compared to the onboard camera and laser scanner, radar sensor provides lighting and weather invariant sensing, which is naturally suitable for long-term localization under adverse conditions. However, radar data is sparse and noisy,…
RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…
In recent years, Neural Radiance Fields (NeRF) has made remarkable progress in the field of computer vision and graphics, providing strong technical support for solving key tasks including 3D scene understanding, new perspective synthesis,…
We present a method to learn compositional multi-object dynamics models from image observations based on implicit object encoders, Neural Radiance Fields (NeRFs), and graph neural networks. NeRFs have become a popular choice for…
Decomposing a scene into its shape, reflectance, and illumination is a challenging but important problem in computer vision and graphics. This problem is inherently more challenging when the illumination is not a single light source under…
Vision-and-Language Navigation in Continuous Environments (VLN-CE) is a navigation task that requires an agent to follow a language instruction in a realistic environment. The understanding of environments is a crucial part of the VLN-CE…
In this paper, we propose HeadNeRF, a novel NeRF-based parametric head model that integrates the neural radiance field to the parametric representation of the human head. It can render high fidelity head images in real-time on modern GPUs,…
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with…
We present a learning-based method for synthesizing novel views of complex scenes using only unstructured collections of in-the-wild photographs. We build on Neural Radiance Fields (NeRF), which uses the weights of a multilayer perceptron…
This paper proposes a new method called Multimodal RNNs for RGB-D scene semantic segmentation. It is optimized to classify image pixels given two input sources: RGB color channels and Depth maps. It simultaneously performs training of two…
Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…
In the realm of autonomous driving, achieving precise 3D reconstruction of the driving environment is critical for ensuring safety and effective navigation. Neural Radiance Fields (NeRF) have shown promise in creating highly detailed and…
Virtual tour among sparse 360$^\circ$ images is widely used while hindering smooth and immersive roaming experiences. The emergence of Neural Radiance Field (NeRF) has showcased significant progress in synthesizing novel views, unlocking…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
We propose a framework for aligning and fusing multiple images into a single view using neural image representations (NIRs), also known as implicit or coordinate-based neural representations. Our framework targets burst images that exhibit…
In this paper, we introduce a novel image-goal navigation approach, named RFSG. Our focus lies in leveraging the fine-grained connections between goals, observations, and the environment within limited image data, all the while keeping the…