相关论文: Learning 3D Dynamic Scene Representations for Robo…

Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

For the problem of 3D object recognition, researchers using deep learning methods have developed several very different input representations, including "multi-view" snapshots taken from discrete viewpoints around an object, as well as…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

This paper presents a new approach to estimate accurate and robust 3D semantic correspondence with the hierarchical neural semantic representation. Our work has three key contributions. First, we design the hierarchical neural semantic…

Generating immersive 3D scenes from texts is a core task in computer vision, crucial for applications in virtual reality and game development. Despite the promise of leveraging 2D diffusion priors, existing methods suffer from spatial…

Dynamic objects have a significant impact on the robot's perception of the environment which degrades the performance of essential tasks such as localization and mapping. In this work, we address this problem by synthesizing plausible…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

Training a deep network policy for robot manipulation is notoriously costly and time consuming as it depends on collecting a significant amount of real world data. To work well in the real world, the policy needs to see many instances of…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

When interacting in a three dimensional world, humans must estimate 3D structure from visual inputs projected down to two dimensional retinal images. It has been shown that humans use the persistence of object shape over motion-induced…

Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…

Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics…

We present a method, Neural Radiance Flow (NeRFlow),to learn a 4D spatial-temporal representation of a dynamic scene from a set of RGB images. Key to our approach is the use of a neural implicit representation that learns to capture the 3D…

3D scene understanding is important for robots to interact with the 3D world in a meaningful way. Most previous works on 3D scene understanding focus on recognizing geometrical or semantic properties of the scene independently. In this…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…