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In recent years, the performance of novel view synthesis using perspective images has dramatically improved with the advent of neural radiance fields (NeRF). This study proposes two novel techniques that effectively build NeRF for…
Neural Radiance Fields (NeRFs) have become a widely-applied scene representation technique in recent years, showing advantages for robot navigation and manipulation tasks. To further advance the utility of NeRFs for robotics, we propose a…
Novel view synthesis from monocular videos of dynamic scenes with unknown camera poses remains a fundamental challenge in computer vision and graphics. While recent advances in 3D representations such as Neural Radiance Fields (NeRF) and 3D…
Inverse rendering seeks to recover 3D geometry, surface material, and lighting from captured images, enabling advanced applications such as novel-view synthesis, relighting, and virtual object insertion. However, most existing techniques…
We present a technique for simultaneous 3D reconstruction of static regions and rigidly moving objects in a scene. An RGB-D frame is represented as a collection of features, which are points and planes. We classify the features into static…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
A variety of Neural Radiance Fields (NeRF) methods have recently achieved remarkable success in high render speed. However, current accelerating methods are specialized and incompatible with various implicit methods, preventing real-time…
Dynamic scene rendering and reconstruction play a crucial role in computer vision and augmented reality. Recent methods based on 3D Gaussian Splatting (3DGS), have enabled accurate modeling of dynamic urban scenes, but for urban scenes they…
Fast-flying aerial robots promise rapid inspection under limited battery constraints, with direct applications in infrastructure inspection, terrain exploration, and search and rescue. However, high speeds lead to severe motion blur in…
We present MovingParts, a NeRF-based method for dynamic scene reconstruction and part discovery. We consider motion as an important cue for identifying parts, that all particles on the same part share the common motion pattern. From the…
Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, which impedes their…
As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…
In indoor scenes, the diverse distribution of object locations and scales makes the visual 3D perception task a big challenge. Previous works (e.g, NeRF-Det) have demonstrated that implicit representation has the capacity to benefit the…
Neural radiance fields (NeRF) bring a new wave for 3D interactive experiences. However, as an important part of the immersive experiences, the defocus effects have not been fully explored within NeRF. Some recent NeRF-based methods generate…
We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…
Real-time 3D object detection is crucial for autonomous cars. Achieving promising performance with high efficiency, voxel-based approaches have received considerable attention. However, previous methods model the input space with features…
Dynamic Neural Radiance Fields (NeRFs) achieve remarkable visual quality when synthesizing novel views of time-evolving 3D scenes. However, the common reliance on backward deformation fields makes reanimation of the captured object poses…
Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…
Non-Line-of-Sight (NLOS) imaging aims at recovering the 3D geometry of objects that are hidden from the direct line of sight. In the past, this method has suffered from the weak available multibounce signal limiting scene size, capture…
Classical structural-based visual localization methods offer high accuracy but face trade-offs in terms of storage, speed, and privacy. A recent innovation, keypoint scene coordinate regression (KSCR) named D2S addresses these issues by…