相关论文: Panoptic Neural Fields: A Semantic Object-Aware Ne…

We present a novel approach to perform 3D semantic segmentation solely from 2D supervision by leveraging Neural Radiance Fields (NeRFs). By extracting features along a surface point cloud, we achieve a compact representation of the scene…

We present a method for estimating neural scenes representations of objects given only a single image. The core of our method is the estimation of a geometric scaffold for the object and its use as a guide for the reconstruction of the…

We introduce an approach for selecting objects in neural volumetric 3D representations, such as multi-plane images (MPI) and neural radiance fields (NeRF). Our approach takes a set of foreground and background 2D user scribbles in one view…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Neural fields have recently enjoyed great success in representing and rendering 3D scenes. However, most state-of-the-art implicit representations model static or dynamic scenes as a whole, with minor variations. Existing work on learning…

Neural volumetric representations such as Neural Radiance Fields (NeRF) have emerged as a compelling technique for learning to represent 3D scenes from images with the goal of rendering photorealistic images of the scene from unobserved…

Neural Radiance Fields (NeRFs) have become a widely-applied scene representation technique in recent years, showing advantages for robot navigation and manipulation tasks. To further advance the utility of NeRFs for robotics, we propose a…

Neural Radiance Fields (NeRFs) have been remarkably successful at synthesizing novel views of 3D scenes by optimizing a volumetric scene function. This scene function models how optical rays bring color information from a 3D object to the…

Neural Radiance Fields (NeRFs) are a powerful representation for modeling a 3D scene as a continuous function. Though NeRF is able to render complex 3D scenes with view-dependent effects, few efforts have been devoted to exploring its…

Neural fields have emerged as a powerful framework for representing continuous multidimensional signals such as images and videos, 3D and 4D objects and scenes, and radiance fields. While efficient, achieving high-quality representation…

Neural radiance fields (NeRFs) enable novel view synthesis with unprecedented visual quality. However, to render photorealistic images, NeRFs require hundreds of deep multilayer perceptron (MLP) evaluations - for each pixel. This is…

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…

Purely MLP-based neural radiance fields (NeRF-based methods) often suffer from underfitting with blurred renderings on large-scale scenes due to limited model capacity. Recent approaches propose to geographically divide the scene and adopt…

We introduce Neural Point Light Fields that represent scenes implicitly with a light field living on a sparse point cloud. Combining differentiable volume rendering with learned implicit density representations has made it possible to…

Implicit neural rendering techniques have shown promising results for novel view synthesis. However, existing methods usually encode the entire scene as a whole, which is generally not aware of the object identity and limits the ability to…

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…

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…

We propose pixelNeRF, a learning framework that predicts a continuous neural scene representation conditioned on one or few input images. The existing approach for constructing neural radiance fields involves optimizing the representation…

Neural Radiance Fields (NeRFs) provide a high fidelity, continuous scene representation that can realistically represent complex behaviour of light. Despite works like Ref-NeRF improving geometry through physics-inspired models, the ability…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…