Related papers: PB-NBV: Efficient Projection-Based Next-Best-View …
3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…
High-quality observations of the real world are crucial for a variety of applications, including producing 3D printed replicas of small-scale scenes and conducting inspections of large-scale infrastructure. These 3D observations are…
The ultimate goal of many image-based modeling systems is to render photo-realistic novel views of a scene without visible artifacts. Existing evaluation metrics and benchmarks focus mainly on the geometric accuracy of the reconstructed…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
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.…
Neural Radiance Fields (NeRFs) are gaining significant interest for online active object reconstruction due to their exceptional memory efficiency and requirement for only posed RGB inputs. Previous NeRF-based view planning methods exhibit…
What makes a good viewpoint? The quality of the data used to learn 3D reconstructions is crucial for enabling efficient and accurate scene modeling. We study the active view selection problem and develop a principled analysis that yields a…
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…
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…
Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…
3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…
We propose Self-Augmented Residual 3D Gaussian Splatting (SA-ResGS), a novel framework to stabilize uncertainty quantification and enhancing uncertainty-aware supervision in next-best-view (NBV) selection for active scene reconstruction.…
Object-centric view planning is a core component of active geometric 3D reconstruction in robotics, yet existing evaluations often conflate object complexity, planning difficulty, budget assumptions, and physical reachability constraints.…
Accurate, fast, and reliable 3D perception is essential for autonomous driving. Recently, bird's-eye view (BEV)-based perception approaches have emerged as superior alternatives to perspective-based solutions, offering enhanced spatial…
Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…
Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structured growing environments, which require specific viewpoints…
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…
Image-based modeling techniques can now generate photo-realistic 3D models from images. But it is up to users to provide high quality images with good coverage and view overlap, which makes the data capturing process tedious and time…
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…