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In this work, we present I$^2$-SDF, a new method for intrinsic indoor scene reconstruction and editing using differentiable Monte Carlo raytracing on neural signed distance fields (SDFs). Our holistic neural SDF-based framework jointly…
Despite remarkable progress in video generation, maintaining long-term scene consistency upon revisiting previously explored areas remains challenging. Existing solutions rely either on explicitly constructing 3D geometry, which suffers…
Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach based on signed distance field (SDF) to model the geometric…
A straightforward and computationally efficient Consecutive Cubic Spline (CCS) iterative algorithm is proposed for positioning the planar interface of the unstructured geometrical Volume-of-Fluid method in arbitrarily-shaped cells. The CCS…
Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…
In this paper, we first propose a spatial-temporal coupled risk assessment paradigm by constructing a three-dimensional spatial-temporal risk field (STRF). Specifically, we introduce spatial-temporal distances to quantify the impact of…
Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…
An advanced Volume of Fluid (VOF) method is presented that enables performant three-dimensional Direct Numerical Simulations (DNS) of the interaction of two immiscible fluids in a gaseous environment with large topology changes, e.g.,…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are…
Signed distance field (SDF) is a prominent implicit representation of 3D meshes. Methods that are based on such representation achieved state-of-the-art 3D shape reconstruction quality. However, these methods struggle to reconstruct…
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.…
Sparse-view computed tomography (SVCT) reconstruction aims to acquire CT images based on sparsely-sampled measurements. It allows the subjects exposed to less ionizing radiation, reducing the lifetime risk of developing cancers. Recent…
3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…
We investigate the generalization capabilities of neural signed distance functions (SDFs) for learning 3D object representations for unseen and unlabeled point clouds. Existing methods can fit SDFs to a handful of object classes and boast…
Procedural modeling is now the de facto standard of material modeling in industry. Procedural models can be edited and are easily extended, unlike pixel-based representations of captured materials. In this paper, we present a semi-automatic…
Surface reconstruction from multi-view images is a core challenge in 3D vision. Recent studies have explored signed distance fields (SDF) within Neural Radiance Fields (NeRF) to achieve high-fidelity surface reconstructions. However, these…
Deep neural networks (DNNs) are widely applied for nowadays 3D surface reconstruction tasks and such methods can be further divided into two categories, which respectively warp templates explicitly by moving vertices or represent 3D…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
It is vital to recover 3D geometry from multi-view RGB images in many 3D computer vision tasks. The latest methods infer the geometry represented as a signed distance field by minimizing the rendering error on the field through volume…
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…