相关论文: Panoptic Multi-TSDFs: a Flexible Representation fo…
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…
Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…
The rapid advances in 3D scanning and acquisition techniques have given rise to the explosive increase of volumetric digital models in recent years. This dissertation systematically trailblazes a novel volumetric modeling framework to…
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
This paper introduces a novel representation of volumetric videos for real-time view synthesis of dynamic scenes. Recent advances in neural scene representations demonstrate their remarkable capability to model and render complex static…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…
Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…
We present a deep learning approach to reconstruct scene appearance from unstructured images captured under collocated point lighting. At the heart of Deep Reflectance Volumes is a novel volumetric scene representation consisting of…
In real-world scenarios, environment changes caused by human or agent activities make it extremely challenging for robots to perform various long-term tasks. Recent works typically struggle to effectively understand and adapt to dynamic…
While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
Recent works on 3D reconstruction from posed images have demonstrated that direct inference of scene-level 3D geometry without test-time optimization is feasible using deep neural networks, showing remarkable promise and high efficiency.…
Visual localization remains challenging in dynamic environments where fluctuating lighting, adverse weather, and moving objects disrupt appearance cues. Despite advances in feature representation, current absolute pose regression methods…
Presenting a 3D scene from multiview images remains a core and long-standing challenge in computer vision and computer graphics. Two main requirements lie in rendering and reconstruction. Notably, SOTA rendering quality is usually achieved…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
Since the advent of Neural Radiance Fields, novel view synthesis has received tremendous attention. The existing approach for the generalization of radiance field reconstruction primarily constructs an encoding volume from nearby source…
Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…
Volumetric video is emerging as a key medium for digitizing the dynamic physical world, creating the virtual environments with six degrees of freedom to deliver immersive user experiences. However, robustly modeling general dynamic scenes,…
Focusing light through turbid media presents a highly fascinating challenge in modern biophotonics. The unique capability of optoacoustics for high resolution imaging of light absorption contrast in deep tissues can provide a natural and…