Related papers: ViewActive: Active viewpoint optimization from a s…
We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…
In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
Neural Radiance Fields, or NeRFs, have drastically improved novel view synthesis and 3D reconstruction for rendering. NeRFs achieve impressive results on object-centric reconstructions, but the quality of novel view synthesis with…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
Dynamic scene reconstruction in autonomous driving remains a fundamental challenge due to significant temporal variations, moving objects, and complex scene dynamics. Existing feed-forward 3D models have demonstrated strong performance in…
Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…
Recent advances in neural scene representations have led to unprecedented quality in 3D reconstruction and view synthesis. Despite achieving high-quality results for common benchmarks with curated data, outputs often degrade for data that…
Neural Radiance Fields (NeRFs) implicitly model continuous three-dimensional scenes using a set of images with known camera poses, enabling the rendering of photorealistic novel views. However, existing NeRF-based methods encounter…
The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…
We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…
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…
Humans have a strong intuitive understanding of the 3D environment around us. The mental model of the physics in our brain applies to objects of different materials and enables us to perform a wide range of manipulation tasks that are far…
It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved 2D visual understanding, prompting interest in their application to complex 3D reasoning tasks. However, it remains unclear whether these models can…
Performing multiple heterogeneous visual tasks in dynamic scenes is a hallmark of human perception capability. Despite remarkable progress in image and video recognition via representation learning, current research still focuses on…
Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…
Human vision is a highly active process driven by gaze, which directs attention to task-relevant regions through foveation, dramatically reducing visual processing. In contrast, robot learning systems typically rely on passive, uniform…
Neural Radiance Fields (NeRF) have emerged as a paradigm-shifting methodology for the photorealistic rendering of objects and environments, enabling the synthesis of novel viewpoints with remarkable fidelity. This is accomplished through…