相关论文: Learn-to-Score: Efficient 3D Scene Exploration by …

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

Scene flow is the three-dimensional (3D) motion field of a scene. It provides information about the spatial arrangement and rate of change of objects in dynamic environments. Current learning-based approaches seek to estimate the scene flow…

Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…

Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this capability view planning, requiring (1)understanding how a single action transforms the view, and (2)composing many such transformations…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

In recent years, deep generative models have gained significance due to their ability to synthesize natural-looking images with applications ranging from virtual reality to data augmentation for training computer vision models. While…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Object viewpoint estimation from 2D images is an essential task in computer vision. However, two issues hinder its progress: scarcity of training data with viewpoint annotations, and a lack of powerful features. Inspired by the growing…

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

This work demonstrates how to leverage previous network expert demonstrations of UAV deployment to automate the drones placement in civil applications. Optimal UAV placement is an NP-complete problem: it requires a closed-form utility…

In addition to color and textural information, geometry provides important cues for 3D scene reconstruction. However, current reconstruction methods only include geometry at the feature level thus not fully exploiting the geometric…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

Implicit function based surface reconstruction has been studied for a long time to recover 3D shapes from point clouds sampled from surfaces. Recently, Signed Distance Functions (SDFs) and Occupany Functions are adopted in learning-based…