相关论文: Continual Neural Mapping: Learning An Implicit Sce…

Neural radiance fields (NeRFs) have emerged as an effective method for novel-view synthesis and 3D scene reconstruction. However, conventional training methods require access to all training views during scene optimization. This assumption…

Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression…

Understanding and mapping a new environment are core abilities of any autonomously navigating agent. While classical robotics usually estimates maps in a stand-alone manner with SLAM variants, which maintain a topological or metric…

In this work, we present a new method for 3D face reconstruction from sparse-view RGB images. Unlike previous methods which are built upon 3D morphable models (3DMMs) with limited details, we leverage an implicit representation to encode…

Neural signed distance functions (SDFs) have shown powerful ability in fitting the shape geometry. However, inferring continuous signed distance fields from discrete unoriented point clouds still remains a challenge. The neural network…

Recently, neural implicit surfaces learning by volume rendering has become popular for multi-view reconstruction. However, one key challenge remains: existing approaches lack explicit multi-view geometry constraints, hence usually fail to…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

The neural implicit representation has shown its effectiveness in novel view synthesis and high-quality 3D reconstruction from multi-view images. However, most approaches focus on holistic scene representation yet ignore individual objects…

Predicting scene dynamics from visual observations is challenging. Existing methods capture dynamics only within observed boundaries failing to extrapolate far beyond the training sequence. Node-RF (Neural ODE-based NeRF) overcomes this…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Neural implicit representations, which encode a surface as the level set of a neural network applied to spatial coordinates, have proven to be remarkably effective for optimizing, compressing, and generating 3D geometry. Although these…

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…

Existing methods for spectral reconstruction usually learn a discrete mapping from RGB images to a number of spectral bands. However, this modeling strategy ignores the continuous nature of spectral signature. In this paper, we propose…

This paper presents a novel Learning from Demonstration (LfD) method that uses neural fields to learn new skills efficiently and accurately. It achieves this by utilizing a shared embedding to learn both scene and motion representations in…

We present iSDF, a continual learning system for real-time signed distance field (SDF) reconstruction. Given a stream of posed depth images from a moving camera, it trains a randomly initialised neural network to map input 3D coordinate to…

Neural implicit representations have emerged as a powerful paradigm for 3D reconstruction. However, despite their success, existing methods fail to capture fine geometric details and thin structures, especially in scenarios where only…

This study proposes a neural disparity field (NDF) that establishes an implicit, continuous representation of scene disparity based on a neural field and an iterative approach to address the inverse problem of NDF reconstruction from…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

We integrate two powerful ideas, geometry and deep visual representation learning, into recurrent network architectures for mobile visual scene understanding. The proposed networks learn to "lift" and integrate 2D visual features over time…