相关论文: LATITUDE: Robotic Global Localization with Truncat…

3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…

Neural Radiance Fields (NeRF) have recently emerged as a paradigm for 3D reconstruction from multiview satellite imagery. However, state-of-the-art NeRF methods are typically constrained to small scenes due to the memory footprint during…

Creating high-quality controllable 3D human models from multi-view RGB videos poses a significant challenge. Neural radiance fields (NeRFs) have demonstrated remarkable quality in reconstructing and free-viewpoint rendering of static as…

Latent 3D reconstruction has shown great promise in empowering 3D semantic understanding and 3D generation by distilling 2D features into the 3D space. However, existing approaches struggle with the domain gap between 2D feature space and…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…

Recent work on Neural Radiance Fields (NeRF) has demonstrated significant advances in high-quality view synthesis. A major limitation of NeRF is its low rendering efficiency due to the need for multiple network forwardings to render a…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…

Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…

Neural Radiance Fields (NeRF) offer the potential to benefit 3D reconstruction tasks, including aerial photogrammetry. However, the scalability and accuracy of the inferred geometry are not well-documented for large-scale aerial…

High-fidelity sensor simulation of light-based sensors such as cameras and LiDARs is critical for safe and accurate autonomy testing. Neural radiance field (NeRF)-based methods that reconstruct sensor observations via ray-casting of…

Neural Radiance Fields (NeRF) recently emerged as a new paradigm for object representation from multi-view (MV) images. Yet, it cannot handle multi-scale (MS) images and camera pose estimation errors, which generally is the case with…

Neural Radiance Fields (NeRFs) have shown remarkable performances in producing novel-view images from high-quality scene images. However, hand-held low-light photography challenges NeRFs as the captured images may simultaneously suffer from…

Humans describe the physical world using natural language to refer to specific 3D locations based on a vast range of properties: visual appearance, semantics, abstract associations, or actionable affordances. In this work we propose…

Neural radiance field (NeRF) has achieved great success in novel view synthesis and 3D representation for static scenarios. Existing dynamic NeRFs usually exploit a locally dense grid to fit the deformation field; however, they fail to…

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…

Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…

We propose a Transformer-based NeRF (TransNeRF) to learn a generic neural radiance field conditioned on observed-view images for the novel view synthesis task. By contrast, existing MLP-based NeRFs are not able to directly receive observed…

We envision a system to continuously build and maintain a map based on earth-scale neural radiance fields (NeRF) using data collected from vehicles and drones in a lifelong learning manner. However, existing large-scale modeling by NeRF has…

Contemporary registration devices for 3D visual information, such as LIDARs and various depth cameras, capture data as 3D point clouds. In turn, such clouds are challenging to be processed due to their size and complexity. Existing methods…

While deep learning reshaped the classical motion capture pipeline with feed-forward networks, generative models are required to recover fine alignment via iterative refinement. Unfortunately, the existing models are usually hand-crafted or…