Related papers: NF-Atlas: Multi-Volume Neural Feature Fields for L…
Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demonstrations as elastic…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
We introduce a general, scalable computational framework for multi-axis 3D printing based on implicit neural fields (INFs) that unifies all stages of toolpath generation and global collision-free motion planning. In our pipeline, input…
Recent works on implicit neural representations have made significant strides. Learning implicit neural surfaces using volume rendering has gained popularity in multi-view reconstruction without 3D supervision. However, accurately…
Although neural radiance fields (NeRFs) have achieved triumphs in image novel view synthesis (NVS), LiDAR NVS remains largely unexplored. Previous LiDAR NVS methods employ a simple shift from image NVS methods while ignoring the dynamic…
Recent research on learnable neural representations has been widely adopted in the field of 3D scene reconstruction and neural rendering applications. However, traditional feature grid representations often suffer from substantial memory…
Based on the predictive map theory of spatial learning in animals, this study delves into the dynamics of Successor Feature (SF) and Predecessor Feature (PF) algorithms within noisy environments. Utilizing Q-learning and Q($\lambda$)…
Learning efficient representations of local features is a key challenge in feature volume-based 3D neural mapping, especially in large-scale environments. In this paper, we introduce Decomposition-based Neural Mapping (DNMap), a…
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…
LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…
Robotic and animal mapping systems share many of the same objectives and challenges, but differ in one key aspect: where much of the research in robotic mapping has focused on solving the data association problem, the grid cell neurons…
We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…
LiDAR place recognition plays a crucial role in SLAM, robot navigation, and autonomous driving. However, existing LiDAR place recognition methods often struggle to adapt to new environments without forgetting previously learned knowledge, a…
In this letter, we present a neural field-based real-time monocular mapping framework for accurate and dense Simultaneous Localization and Mapping (SLAM). Recent neural mapping frameworks show promising results, but rely on RGB-D or pose…
Neural implicit fields have been a de facto standard in novel view synthesis. Recently, there exist some methods exploring fusing multiple modalities within a single field, aiming to share implicit features from different modalities to…
Storing tabular data to balance storage and query efficiency is a long-standing research question in the database community. In this work, we argue and show that a novel DeepMapping abstraction, which relies on the impressive memorization…
Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…
Neural radiance fields (NeRFs) have become a ubiquitous tool for modeling scene appearance and geometry from multiview imagery. Recent work has also begun to explore how to use additional supervision from lidar or depth sensor measurements…
General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…
Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…