相关论文: SCONE: Surface Coverage Optimization in Unknown En…

Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…

We revisit Semantic Scene Completion (SSC), a useful task to predict the semantic and occupancy representation of 3D scenes, in this paper. A number of methods for this task are always based on voxelized scene representations for keeping…

In this study, we propose two novel input processing paradigms for novel view synthesis (NVS) methods based on layered scene representations that significantly improve their runtime without compromising quality. Our approach identifies and…

Scene recognition is an image recognition problem aimed at predicting the category of the place at which the image is taken. In this paper, a new scene recognition method using the convolutional neural network (CNN) is proposed. The…

Automated surface segmentation is important and challenging in many medical image analysis applications. Recent deep learning based methods have been developed for various object segmentation tasks. Most of them are a classification based…

Bird's-eye-view (BEV) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…

3D semantic occupancy prediction is a crucial task in visual perception, as it requires the simultaneous comprehension of both scene geometry and semantics. It plays a crucial role in understanding 3D scenes and has great potential for…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

We propose scene-adaptive strategies to efficiently allocate representation capacity for generating immersive experiences of indoor environments from incomplete observations. Indoor scenes with multiple rooms often exhibit irregular layouts…

Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…

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…

Detecting navigable space is the first and also a critical step for successful robot navigation. In this work, we treat the visual navigable space segmentation as a scene decomposition problem and propose a new network, NSS-VAEs (Navigable…

This paper examines the spatial coverage optimization problem for multiple sensors in a known convex environment, where the coverage service of each sensor is heterogeneous and anisotropic. We introduce the Stein Coverage algorithm, a…

Nowadays, distributed smart cameras are deployed for a wide set of tasks in several application scenarios, ranging from object recognition, image retrieval, and forensic applications. Due to limited bandwidth in distributed systems,…

3D surface reconstruction from images is essential for numerous applications. Recently, Neural Radiance Fields (NeRFs) have emerged as a promising framework for 3D modeling. However, NeRFs require accurate camera poses as input, and…

Autonomous mobile robots (AMRs) equipped with high-quality cameras have revolutionized the field of inspections by providing efficient and cost-effective means of conducting surveys. The use of autonomous inspection is becoming more…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…

In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…

This work presents Spacecraft Pose Network v3 (SPNv3), a Neural Network (NN) for monocular pose estimation of a known, non-cooperative target spacecraft. SPNv3 is designed and trained to be computationally efficient while providing…

In this paper, we present a robust method for scene recognition, which leverages Convolutional Neural Networks (CNNs) features and Sparse Coding setting by creating a new representation of indoor scenes. Although CNNs highly benefited the…