相关论文: Spatio-Temporal Road Scene Reconstruction using Su…

We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…

A challenge still to be overcome in the field of visual perception for vehicle and robotic navigation on heavily damaged and unpaved roads is the task of reliable path and obstacle detection. The vast majority of the researches have as…

Recent perception-generalist approaches based on language models have achieved state-of-the-art results across diverse tasks, including 3D scene layout estimation and 3D object detection, via unified architecture and interface. However,…

Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…

The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…

In this paper, we propose a probabilistic method to generate abstract scene graphs for table-top scenes from 6D object pose estimates. We explicitly make use of task-specfic context knowledge by encoding this knowledge as descriptive rules…

Neural 3D scene reconstruction methods have achieved impressive performance when reconstructing complex geometry and low-textured regions in indoor scenes. However, these methods heavily rely on 3D data which is costly and time-consuming to…

Object detection and classification using video is necessary for intelligent planning and navigation on a mobile robot. However, current methods can be too slow or not sufficient for distinguishing multiple classes. Techniques that rely on…

The goal of this work is to perform 3D reconstruction and novel view synthesis from data captured by scanning platforms commonly deployed for world mapping in urban outdoor environments (e.g., Street View). Given a sequence of posed RGB…

As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene…

3D reconstruction is vital for applications in autonomous driving, virtual reality, augmented reality, and the metaverse. Recent advancements such as Neural Radiance Fields(NeRF) and 3D Gaussian Splatting (3DGS) have transformed the field,…

Vehicle trajectory prediction is nowadays a fundamental pillar of self-driving cars. Both the industry and research communities have acknowledged the need for such a pillar by providing public benchmarks. While state-of-the-art methods are…

In the realm of autonomous driving, achieving precise 3D reconstruction of the driving environment is critical for ensuring safety and effective navigation. Neural Radiance Fields (NeRF) have shown promise in creating highly detailed and…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…

Unsupervised learning with generative models has the potential of discovering rich representations of 3D scenes. While geometric deep learning has explored 3D-structure-aware representations of scene geometry, these models typically require…

Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS)…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Several variants of Neural Radiance Fields (NeRFs) have significantly improved the accuracy of synthesized images and surface reconstruction of 3D scenes/objects. In all of these methods, a key characteristic is that none can train the…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Inferring a meaningful geometric scene representation from a single image is a fundamental problem in computer vision. Approaches based on traditional depth map prediction can only reason about areas that are visible in the image.…