Related papers: AutoNeRF: Training Implicit Scene Representations …
We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires (a) a representation…
Recently, Neural Radiance Fields (NeRF) has shown promising performances on reconstructing 3D scenes and synthesizing novel views from a sparse set of 2D images. Albeit effective, the performance of NeRF is highly influenced by the quality…
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,…
Effective environment perception is crucial for enabling downstream robotic applications. Individual robotic agents often face occlusion and limited visibility issues, whereas multi-agent systems can offer a more comprehensive mapping of…
Neural Radiance Field (NeRF) models are implicit neural scene representation methods that offer unprecedented capabilities in novel view synthesis. Semantically-aware NeRFs not only capture the shape and radiance of a scene, but also encode…
A high-quality 3D reconstruction of a scene from a collection of 2D images can be achieved through offline/online mapping methods. In this paper, we explore active mapping from the perspective of implicit representations, which have…
Neural radiance fields (NeRFs) have emerged as an effective method for novel-view synthesis and 3D scene reconstruction. However, conventional training methods require access to all training views during scene optimization. This assumption…
Implicit neural representations have shown powerful capacity in modeling real-world 3D scenes, offering superior performance in novel view synthesis. In this paper, we target a more challenging scenario, i.e., joint scene novel view…
We introduce ViewNeRF, a Neural Radiance Field-based viewpoint estimation method that learns to predict category-level viewpoints directly from images during training. While NeRF is usually trained with ground-truth camera poses, multiple…
Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…
In this study, we introduce the DriveEnv-NeRF framework, which leverages Neural Radiance Fields (NeRF) to enable the validation and faithful forecasting of the efficacy of autonomous driving agents in a targeted real-world scene. Standard…
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…
The ability of neural radiance fields or NeRFs to conduct accurate 3D modelling has motivated application of the technique to scene representation. Previous approaches have mainly followed a centralised learning paradigm, which assumes that…
Implicit neural rendering, especially Neural Radiance Field (NeRF), has shown great potential in novel view synthesis of a scene. However, current NeRF-based methods cannot enable users to perform user-controlled shape deformation in the…
Neural radiance fields (NeRFs) have achieved impressive view synthesis results by learning an implicit volumetric representation from multi-view images. To project the implicit representation into an image, NeRF employs volume rendering…
Neural Radiance Fields (NeRFs) have proven to be powerful 3D representations, capable of high quality novel view synthesis of complex scenes. While NeRFs have been applied to graphics, vision, and robotics, problems with slow rendering…
We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…
Neural Radiance Fields (NeRFs) are a powerful representation for modeling a 3D scene as a continuous function. Though NeRF is able to render complex 3D scenes with view-dependent effects, few efforts have been devoted to exploring its…
Neural radiance fields (NeRFs) have emerged as a prominent pre-training paradigm for vision-centric autonomous driving, which enhances 3D geometry and appearance understanding in a fully self-supervised manner. To apply NeRF-based…
Neural rendering techniques combining machine learning with geometric reasoning have arisen as one of the most promising approaches for synthesizing novel views of a scene from a sparse set of images. Among these, stands out the Neural…