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This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…
We present a simple yet general and efficient approach to representation of computational meshes. Meshes are represented as sets of mesh entities of different topological dimensions and their incidence relations. We discuss a…
Video editing has recently achieved remarkable progress with diffusion-based generative models, enabling diverse object-level manipulations from natural language instructions. However, existing methods often struggle under occlusion,…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Generating high-fidelity and controllable synthetic data is critical for advancing end-to-end autonomous driving, particularly for addressing the long tail of rare safety-critical scenarios. Existing occupancy-guided methods typically rely…
Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…
The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…
Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…
Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is…
Surface topography refers to the geometric micro-structure of a surface and defines its tactile characteristics (typically in the sub-millimeter range). High-resolution 3D scanning techniques developed recently enable the 3D reconstruction…
Image generation technology can synthesize condition-specific images to supplement real-world industrial anomaly data and enhance anomaly detection model performance. Existing generation techniques rarely account for the pose and…
Pedestrian detection models in autonomous driving systems often lack robustness due to insufficient representation of dangerous pedestrian scenarios in training datasets. To address this limitation, we present a novel framework for…
Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…
We present the first approach to volumetric performance capture and novel-view rendering at real-time speed from monocular video, eliminating the need for expensive multi-view systems or cumbersome pre-acquisition of a personalized template…
An algorithm to efficiently compute the moments of volumetric images is disclosed. The approach demonstrates a reduction in processing time by reducing the computational complexity significantly. Specifically, the algorithm reduces…
Images of spacecraft photographed from other spacecraft operating in outer space are difficult to come by, especially at a scale typically required for deep learning tasks. Semantic image segmentation, object detection and localization, and…
Bounded by the inherent ambiguity of depth perception, contemporary camera-based 3D object detection methods fall into the performance bottleneck. Intuitively, leveraging temporal multi-view stereo (MVS) technology is the natural knowledge…
Subdivision methods such as quadtrees, octrees, and higher-dimensional orthrees are standard practice in different domains of computer science. We can use these methods to represent given geometries, such as curves, meshes, or surfaces.…
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…