相关论文: 3D Surface Reconstruction from Voxel-based Lidar D…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Recent years have seen the development of mature solutions for reconstructing deformable surfaces from a single image, provided that they are relatively well-textured. By contrast, recovering the 3D shape of texture-less surfaces remains an…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…

In this paper we present a novel method for efficient and effective 3D surface reconstruction in open scenes. Existing Neural Radiance Fields (NeRF) based works typically require extensive training and rendering time due to the adopted…

Mesh reconstruction from a 3D point cloud is an important topic in the fields of computer graphic, computer vision, and multimedia analysis. In this paper, we propose a voxel structure-based mesh reconstruction framework. It provides the…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Neural surface reconstruction aims to reconstruct accurate 3D surfaces based on multi-view images. Previous methods based on neural volume rendering mostly train a fully implicit model with MLPs, which typically require hours of training…

We introduce a novel method to obtain high-quality 3D reconstructions from consumer RGB-D sensors. Our core idea is to simultaneously optimize for geometry encoded in a signed distance field (SDF), textures from automatically-selected…

In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…

Incrementally recovering 3D dense structures from monocular videos is of paramount importance since it enables various robotics and AR applications. Feature volumes have recently been shown to enable efficient and accurate incremental dense…

3D Gaussian Splatting (3DGS) has demonstrated impressive performance in scene reconstruction. However, most existing GS-based surface reconstruction methods focus on 3D objects or limited scenes. Directly applying these methods to…

Reconstructing 3D vehicles from noisy and sparse partial point clouds is of great significance to autonomous driving. Most existing 3D reconstruction methods cannot be directly applied to this problem because they are elaborately designed…

Reconstructing accurate 3D surfaces for street-view scenarios is crucial for applications such as digital entertainment and autonomous driving simulation. However, existing street-view datasets, including KITTI, Waymo, and nuScenes, only…

We propose VisFusion, a visibility-aware online 3D scene reconstruction approach from posed monocular videos. In particular, we aim to reconstruct the scene from volumetric features. Unlike previous reconstruction methods which aggregate…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

We introduce a novel approach for the reconstruction of tubular shapes from skeletal representations. Our method processes all skeletal points as a whole, eliminating the need for splitting input structure into multiple segments. We…

Reconstructing translucent objects from multi-view images is a difficult problem. Previously, researchers have used differentiable path tracing and the neural implicit field, which require relatively large computational costs. Recently,…

This paper focuses on scene reconstruction under nighttime conditions in autonomous driving simulation. Recent methods based on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) have achieved photorealistic modeling in…

Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the…