Related papers: VoxCity: A Seamless Framework for Open Geospatial …

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…

3D vector graphics play a crucial role in various applications including 3D shape retrieval, conceptual design, and virtual reality interactions due to their ability to capture essential structural information with minimal representation.…

City modeling and generation have attracted an increased interest in various applications, including gaming, urban planning, and autonomous driving. Unlike previous works focused on the generation of single objects or indoor scenes, the…

Existing approaches to 3D semantic urban scene generation predominantly rely on voxel-based representations, which are bound by fixed resolution, challenging to edit, and memory-intensive in their dense form. In contrast, we advocate for a…

Real-to-Sim-to-Real technique is gaining increasing interest for robotic manipulation, as it can generate scalable data in simulation while having narrower sim-to-real gap. However, previous methods mainly focused on environment-level…

Capturing real-world aerial images for vision-based navigation (VBN) is challenging due to limited availability and conditions that make it nearly impossible to access all desired images from any location. The complexity increases when…

State-of-the-art 3D-aware generative models rely on coordinate-based MLPs to parameterize 3D radiance fields. While demonstrating impressive results, querying an MLP for every sample along each ray leads to slow rendering. Therefore,…

Street View Imagery (SVI) is a valuable data source for studies (e.g., environmental assessments, green space identification or land cover classification). While commercial SVI is available, such providers commonly restrict copying or reuse…

Generative AI offers new opportunities for automating urban planning by creating site-specific urban layouts and enabling flexible design exploration. However, existing approaches often struggle to produce realistic and practical designs at…

Generating realistic 3D cities is fundamental to world models, virtual reality, and game development, where an ideal urban scene must satisfy both stylistic diversity, fine-grained, and controllability. However, existing methods struggle to…

Data-driven autonomous driving simulation has long been constrained by its heavy reliance on pre-recorded driving logs or spatial priors, such as HD maps. This fundamental dependency severely limits scalability, restricting open-ended…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

3D Gaussian splatting (3DGS) and its subsequent variants have led to remarkable progress in simultaneous localization and mapping (SLAM). While most recent 3DGS-based SLAM works focus on small-scale indoor scenes, developing 3DGS-based SLAM…

Comprehending 3D environments is vital for intelligent systems in domains like robotics and autonomous navigation. Voxel grids offer a structured representation of 3D space, but extracting high-level semantic meaning remains challenging.…

Understanding the evolution of 3D scenes is important for effective autonomous driving. While conventional methods mode scene development with the motion of individual instances, world models emerge as a generative framework to describe the…

Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of constructing a policy model for collision-free motion…

Real-time 3D mapping is a critical component in many important applications today including robotics, AR/VR, and 3D visualization. 3D mapping involves continuously fusing depth maps obtained from depth sensors in phones, robots, and…

Simulation-ready physical 3D assets have emerged as a promising direction owing to their broad applicability in downstream tasks. However, most existing 3D generation methods either neglect physical properties or are limited to a single…

City scene generation has gained significant attention in autonomous driving, smart city development, and traffic simulation. It helps enhance infrastructure planning and monitoring solutions. Existing methods have employed a two-stage…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…