Related papers: PB-NBV: Efficient Projection-Based Next-Best-View …
3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…
The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…
Large-scale Neural Radiance Fields (NeRF) reconstructions are typically hindered by the requirement for extensive image datasets and substantial computational resources. This paper introduces IOVS4NeRF, a framework that employs an…
In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…
This work addresses the problem of active 3D mapping, where an agent must find an efficient trajectory to exhaustively reconstruct a new scene. Previous approaches mainly predict the next best view near the agent's location, which is prone…
Recent advancements in 3D reconstruction and neural rendering have enhanced the creation of high-quality digital assets, yet existing methods struggle to generalize across varying object shapes, textures, and occlusions. While Next Best…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
We consider detecting objects in an image by iteratively selecting from a set of arbitrarily shaped candidate regions. Our generic approach, which we term visual chunking, reasons about the locations of multiple object instances in an image…
We introduce an approach for selecting objects in neural volumetric 3D representations, such as multi-plane images (MPI) and neural radiance fields (NeRF). Our approach takes a set of foreground and background 2D user scribbles in one view…
This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific…
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…
Recently, the rise of query-based Transformer decoders is reshaping camera-based 3D object detection. These query-based decoders are surpassing the traditional dense BEV (Bird's Eye View)-based methods. However, we argue that dense BEV…
Efficient and accurate 3D reconstruction is crucial for various applications, including augmented and virtual reality, medical imaging, and cinematic special effects. While traditional Multi-View Stereo (MVS) systems have been fundamental…
Bird's-Eye-View (BEV) representation has emerged as a mainstream paradigm for multi-view 3D object detection, demonstrating impressive perceptual capabilities. However, existing methods overlook the geometric quality of BEV representation,…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
Automated Valet Parking (AVP) is a crucial component of advanced autonomous driving systems, focusing on the endpoint task within the "human-vehicle interaction" process to tackle the challenges of the "last mile".The perception module of…
Novel view synthesis (NVS) is a cornerstone for image-to-3d creation. However, existing works still struggle to maintain consistency between the generated views and the input views, especially when there is a significant camera pose…
Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…