Related papers: GenNBV: Generalizable Next-Best-View Policy for Ac…
Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…
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.…
Recent advances in deep generative models demonstrate unprecedented zero-shot generalization capabilities, offering great potential for robot manipulation in unstructured environments. Given a partial observation of a scene, deep generative…
View selection is critical in active 3D neural reconstruction as it impacts the contents of training set and resulting final output quality. Recent view selection strategies emphasize the visibility when evaluating model uncertainty in…
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a…
Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…
In this work we address the problem of autonomous 3D exploration of an unknown indoor environment using a depth camera. We cast the problem as the estimation of the Next Best View (NBV) that maximises the coverage of the unknown area. We do…
Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…
Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV…
The visuomotor policy can easily overfit to its training datasets, such as fixed camera positions and backgrounds. This overfitting makes the policy perform well in the in-distribution scenarios but underperform in the out-of-distribution…
Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible…
4D reconstruction and rendering of human activities is critical for immersive VR/AR experience.Recent advances still fail to recover fine geometry and texture results with the level of detail present in the input images from sparse…
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of…
Pole-like landmark has received increasing attention as a domain-invariant visual cue for visual robot self-localization across domains (e.g., seasons, times of day, weathers). However, self-localization using pole-like landmarks can be…
In real-world scenarios, many robotic manipulation tasks are hindered by occlusions and limited fields of view, posing significant challenges for passive observation-based models that rely on fixed or wrist-mounted cameras. In this paper,…
Autonomous mobile robots (AMRs) equipped with high-quality cameras have revolutionized the field of inspections by providing efficient and cost-effective means of conducting surveys. The use of autonomous inspection is becoming more…
Large scale 3D scene reconstruction is important for applications such as virtual reality and simulation. Existing neural rendering approaches (e.g., NeRF, 3DGS) have achieved realistic reconstructions on large scenes, but optimize per…
Prevailing 2D-centric visuomotor policies exhibit a pronounced deficiency in novel view generalization, as their reliance on static observations hinders consistent action mapping across unseen views. In response, we introduce GenSplat, a…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…