Related papers: SurroundSDF: Implicit 3D Scene Understanding Based…

We address the problem of clothed human reconstruction from a single image or uncalibrated multi-view images. Existing methods struggle with reconstructing detailed geometry of a clothed human and often require a calibrated setting for…

It is vital to infer a signed distance function (SDF) in multi-view based surface reconstruction. 3D Gaussian splatting (3DGS) provides a novel perspective for volume rendering, and shows advantages in rendering efficiency and quality.…

Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…

Implicit neural field generating signed distance field representations (SDFs) of 3D shapes have shown remarkable progress in 3D shape reconstruction and generation. We introduce a new paradigm for neural field representations of 3D scenes;…

This study addresses the partial-to-complete geometry reconstruction of deformable objects (DOs) from point-cloud observations toward precise DO manipulation. Recent DO reconstruction approaches often adopt implicit neural representations…

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to…

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…

We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigid objects, even when…

Unsigned Distance Functions (UDFs) can be used to represent non-watertight surfaces in a deep learning framework. However, UDFs tend to be brittle and difficult to learn, in part because the surface is located exactly where the UDF is…

This work proposes an optimization-based manipulation planning framework where the objectives are learned functionals of signed-distance fields that represent objects in the scene. Most manipulation planning approaches rely on analytical…

In the field of computer vision, the numerical encoding of 3D surfaces is crucial. It is classical to represent surfaces with their Signed Distance Functions (SDFs) or Unsigned Distance Functions (UDFs). For tasks like representation…

\textit{Implicit neural representations} (INRs) have emerged as a promising framework for representing signals in low-dimensional spaces. This survey reviews the existing literature on the specialized INR problem of approximating…

We present a novel framework for motion planning in dynamic environments that accounts for the predicted trajectories of moving objects in the scene. We explore the use of composite signed-distance fields in motion planning and detail how…

We introduce a novel approach for object segmentation from 3D images using modified minimal path Eikonal equation. The proposed method utilizes an implicit constraint - a second order correction to the inhomogeneous minimal path Eikonal -…

Given only a set of images, neural implicit surface representation has shown its capability in 3D surface reconstruction. However, as the nature of per-scene optimization is based on the volumetric rendering of color, previous neural…

In this paper, we propose a new method to detect 4D spatiotemporal interest points though an implicit surface, we refer to as the 4D-ISIP. We use a 3D volume which has a truncated signed distance function(TSDF) for every voxel to represent…

3D scene segmentation based on neural implicit representation has emerged recently with the advantage of training only on 2D supervision. However, existing approaches still requires expensive per-scene optimization that prohibits…

3D decomposition/segmentation still remains a challenge as large-scale 3D annotated data is not readily available. Contemporary approaches typically leverage 2D machine-generated segments, integrating them for 3D consistency. While the…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…