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

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…

Classification of partially occluded images is a highly challenging computer vision problem even for the cutting edge deep learning technologies. To achieve a robust image classification for occluded images, this paper proposes a novel…

UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure has experienced an increasing surge of interest due to recent advancements in image processing and deep learning-based techniques. View planning…

State-of-the-art neural implicit surface representations have achieved impressive results in indoor scene reconstruction by incorporating monocular geometric priors as additional supervision. However, we have observed that multi-view…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…

Analyzing a visual scene by inferring the configuration of a generative model is widely considered the most flexible and generalizable approach to scene understanding. Yet, one major problem is the computational challenge of the inference…

3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…

Novel view synthesis (NVS) from a single image is highly ill-posed due to large unobserved regions, especially for views that deviate significantly from the input. While existing methods focus on consistency between the source and generated…

We present 3DVNet, a novel multi-view stereo (MVS) depth-prediction method that combines the advantages of previous depth-based and volumetric MVS approaches. Our key idea is the use of a 3D scene-modeling network that iteratively updates a…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Learning general image representations has proven key to the success of many computer vision tasks. For example, many approaches to image understanding problems rely on deep networks that were initially trained on ImageNet, mostly because…

We propose Self-Augmented Residual 3D Gaussian Splatting (SA-ResGS), a novel framework to stabilize uncertainty quantification and enhancing uncertainty-aware supervision in next-best-view (NBV) selection for active scene reconstruction.…

Neural radiance fields (NeRFs) have enabled high fidelity 3D reconstruction from multiple 2D input views. However, a well-known drawback of NeRFs is the less-than-ideal performance under a small number of views, due to insufficient…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets…

Efficient and accurate 3D reconstruction is crucial for various applications, including augmented and virtual reality, medical imaging, and cinematic special effects. While traditional Multi-View Stereo (MVS) systems have been fundamental…

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…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…