Related papers: A Bayesian Approach for Task-Specific Next-Best-Vi…
The Next Best View problem is a computer vision problem widely studied in robotics. To solve it, several methodologies have been proposed over the years. Some, more recently, propose the use of deep learning models. Predictions obtained…
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.…
We propose a Bayesian inference framework to estimate uncertainties in inverse scattering problems. Given the observed data, the forward model and their uncertainties, we find the posterior distribution over a finite parameter field…
In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…
Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
Recent advances in 3D Gaussian Splatting have enabled impressive photorealistic novel view synthesis. However, to transition from a pure rendering engine to a reliable spatial map for autonomous agents and safety-critical applications,…
Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…
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.…
We present a classification based approach for the next best view selection and show how we can plausibly obtain a supervisory signal for this task. The proposed approach is end-to-end trainable and aims to get the best possible 3D…
Computer vision tasks are difficult because of the large variability in the data that is induced by changes in light, background, partial occlusion as well as the varying pose, texture, and shape of objects. Generative approaches to…
3D reconstruction is a core task in many applications such as robot navigation or sites inspections. Finding the best poses to capture part of the scene is one of the most challenging topic that goes under the name of Next Best View.…
In this paper we address the uncertainty issues involved in the low-level vision task of image segmentation. Researchers in computer vision have worked extensively on this problem, in which the goal is to partition (or segment) an image…
Understanding semantics and dynamics has been crucial for embodied agents in various tasks. Both tasks have much more data redundancy than the static scene understanding task. We formulate the view selection problem as an active learning…
Uncertainty quantification is essential when dealing with ill-conditioned inverse problems due to the inherent nonuniqueness of the solution. Bayesian approaches allow us to determine how likely an estimation of the unknown parameters is…
Three-dimensional reconstruction is a fundamental problem in robotics perception. We examine the problem of active view selection to perform 3D Gaussian Splatting reconstructions with as few input images as possible. Although 3D Gaussian…
Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…
Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…
Recent advances in 3D Gaussian Splatting (3DGS) have achieved state-of-the-art results for novel view synthesis. However, efficiently capturing high-fidelity reconstructions of specific objects within complex scenes remains a significant…
3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…