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The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…
The task of generating natural images from 3D scenes has been a long standing goal in computer graphics. On the other hand, recent developments in deep neural networks allow for trainable models that can produce natural-looking images with…
Virtual testing is a crucial task to ensure safety in autonomous driving, and sensor simulation is an important task in this domain. Most current LiDAR simulations are very simplistic and are mainly used to perform initial tests, while the…
Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…
We present a method for synthesizing naturally looking images of multiple people interacting in a specific scenario. These images benefit from the advantages of synthetic data: being fully controllable and fully annotated with any type of…
In this paper, we present a workflow for the simulation of drone operations exploiting realistic background environments constructed within Unreal Engine 4 (UE4). Methods for environmental image capture, 3D reconstruction (photogrammetry)…
Existing dynamic scene generation methods mostly rely on distilling knowledge from pre-trained 3D generative models, which are typically fine-tuned on synthetic object datasets. As a result, the generated scenes are often object-centric and…
Transforming static images into interactive experiences remains a challenging task in computer vision. Tackling this challenge holds the potential to elevate mobile user experiences, notably through interactive and AR/VR applications.…
Traditional fluid dynamics simulation pipelines combine numerical solvers with rendering, producing highly realistic results but at considerable computational cost. Diffusion-based generative video models offer a faster alternative, yet…
Multi-physics simulations play a crucial role in understanding complex systems. However, their computational demands are often prohibitive due to high dimensionality and complex interactions, such that actual calculations often rely on…
We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…
We introduce a method to generate videos of dynamic virtual objects plausibly interacting via collisions with a still image's environment. Given a starting trajectory, physically simulated with the estimated geometry of a single, static…
Gradient-based algorithms are crucial to modern computer-vision and graphics applications, enabling learning-based optimization and inverse problems. For example, photorealistic differentiable rendering pipelines for color images have been…
Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
Methods for Novel View Synthesis (NVS) have recently found traction in the field of LiDAR simulation and large-scale 3D scene reconstruction. While solutions for faster rendering or handling dynamic scenes have been proposed, LiDAR specific…
Realistic simulation of dynamic scenes requires accurately capturing diverse material properties and modeling complex object interactions grounded in physical principles. However, existing methods are constrained to basic material types…
Simulating object dynamics from real-world perception shows great promise for digital twins and robotic manipulation but often demands labor-intensive measurements and expertise. We present a fully automated Real2Sim pipeline that generates…