相关论文: In-Place Scene Labelling and Understanding with Im…

In this work, we aim to address the 3D scene stylization problem - generating stylized images of the scene at arbitrary novel view angles. A straightforward solution is to combine existing novel view synthesis and image/video style transfer…

Utilizing multi-view inputs to synthesize novel-view images, Neural Radiance Fields (NeRF) have emerged as a popular research topic in 3D vision. In this work, we introduce a Generalizable Semantic Neural Radiance Field (GSNeRF), which…

We propose a method that trains a neural radiance field (NeRF) to encode not only the appearance of the scene but also semantic correlations between scene points, regions, or entities -- aiming to capture their mutual co-variation patterns.…

In this paper, we aim to learn a semantic radiance field from multiple scenes that is accurate, efficient and generalizable. While most existing NeRFs target at the tasks of neural scene rendering, image synthesis and multi-view…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Scene labeling is a challenging classification problem where each input image requires a pixel-level prediction map. Recently, deep-learning-based methods have shown their effectiveness on solving this problem. However, we argue that the…

We present a neural radiance field method for urban-scale semantic and building-level instance segmentation from aerial images by lifting noisy 2D labels to 3D. This is a challenging problem due to two primary reasons. Firstly, objects in…

Neural Radiance Fields (NeRF) have shown remarkable capabilities for photorealistic novel view synthesis. One major deficiency of NeRF is that dense inputs are typically required, and the rendering quality will drop drastically given sparse…

An increasing amount of applications rely on data-driven models that are deployed for perception tasks across a sequence of scenes. Due to the mismatch between training and deployment data, adapting the model on the new scenes is often…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

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…

We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…

This paper introduces a novel continual learning framework for synthesising novel views of multiple scenes, learning multiple 3D scenes incrementally, and updating the network parameters only with the training data of the upcoming new…

Neural implicit representation of visual scenes has attracted a lot of attention in recent research of computer vision and graphics. Most prior methods focus on how to reconstruct 3D scene representation from a set of images. In this work,…

Neural rendering techniques combining machine learning with geometric reasoning have arisen as one of the most promising approaches for synthesizing novel views of a scene from a sparse set of images. Among these, stands out the Neural…

Large-scale training data with high-quality annotations is critical for training semantic and instance segmentation models. Unfortunately, pixel-wise annotation is labor-intensive and costly, raising the demand for more efficient labeling…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Applying NeRF to downstream perception tasks for scene understanding and representation is becoming increasingly popular. Most existing methods treat semantic prediction as an additional rendering task, \textit{i.e.}, the "label rendering"…

In this work we propose a satellite specific Neural Radiance Fields (NeRF) model capable to obtain a three-dimensional semantic representation (neural semantic field) of the scene. The model derives the output from a set of multi-date…

3D scene segmentation based on neural implicit representation has emerged recently with the advantage of training only on 2D supervision. However, existing approaches still requires expensive per-scene optimization that prohibits…