Related papers: Estimating 3D Uncertainty Field: Quantifying Uncer…
Neural Radiance Fields (NeRF) has become a popular framework for learning implicit 3D representations and addressing different tasks such as novel-view synthesis or depth-map estimation. However, in downstream applications where decisions…
Understanding sources of uncertainty is fundamental to trustworthy three-dimensional scene modeling. While recent advances in neural radiance fields (NeRFs) achieve impressive accuracy in scene reconstruction and novel view synthesis, the…
Neural Radiance Fields (NeRFs) have shown promise in applications like view synthesis and depth estimation, but learning from multiview images faces inherent uncertainties. Current methods to quantify them are either heuristic or…
This paper presents Neural Visibility Field (NVF), a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that regions not visible in the training views lead to inherently…
Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…
A critical limitation of current methods based on Neural Radiance Fields (NeRF) is that they are unable to quantify the uncertainty associated with the learned appearance and geometry of the scene. This information is paramount in real…
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…
As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene…
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…
We show that ensembling effectively quantifies model uncertainty in Neural Radiance Fields (NeRFs) if a density-aware epistemic uncertainty term is considered. The naive ensembles investigated in prior work simply average rendered RGB…
We present a Bayesian Neural Radiance Field (NeRF), which explicitly quantifies uncertainty in the volume density by modeling uncertainty in the occupancy, without the need for additional networks, making it particularly suited for…
The process of 3D scene reconstruction can be affected by numerous uncertainty sources in real-world scenes. While Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (GS) achieve high-fidelity rendering, they lack built-in mechanisms…
This paper introduces a novel approach to uncertainty quantification for radiance fields by leveraging higher-order moments of the rendering equation. Uncertainty quantification is crucial for downstream tasks including view planning and…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
Neural radiance fields (NeRFs) are a deep learning technique that can generate novel views of 3D scenes using sparse 2D images from different viewing directions and camera poses. As an extension of conventional NeRFs in underwater…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments. Additionally, to make robust decisions, it is necessary for…
Neural Radiance Fields (NeRFs) have remodeled 3D scene representation since release. NeRFs can effectively reconstruct complex 3D scenes from 2D images, advancing different fields and applications such as scene understanding, 3D content…
In the fields of computer graphics, computer vision and photogrammetry, Neural Radiance Fields (NeRFs) are a major topic driving current research and development. However, the quality of NeRF-generated 3D scene reconstructions and…
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,…