相关论文: Learning Reconstructability for Drone Aerial Path …

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Repeated plant monitoring is essential for tracking crop growth, and 3D reconstruction enables consistent comparison across monitoring sessions. However, rebuilding a 3D model from scratch in every session is costly and overlooks…

Embedding 3D morphable basis functions into deep neural networks opens great potential for models with better representation power. However, to faithfully learn those models from an image collection, it requires strong regularization to…

We introduce inverse transport networks as a learning architecture for inverse rendering problems where, given input image measurements, we seek to infer physical scene parameters such as shape, material, and illumination. During training,…

Predicting flight trajectories is a research area that holds significant merit. In this paper, we propose a data-driven learning framework, that leverages the predictive and feature extraction capabilities of the mixture models and…

While deep feature learning has revolutionized techniques for static-image understanding, the same does not quite hold for video processing. Architectures and optimization techniques used for video are largely based off those for static…

Recovering the 3D structure of the scene from images yields useful information for tasks such as shape and scene recognition, object detection, or motion planning and object grasping in robotics. In this thesis, we introduce a general…

Deep learning provides a powerful new approach to many computer vision tasks. Height prediction from aerial images is one of those tasks that benefited greatly from the deployment of deep learning which replaced old multi-view geometry…

We present a novel method for recovering the absolute pose and shape of a human in a pre-scanned scene given a single image. Unlike previous methods that perform sceneaware mesh optimization, we propose to first estimate absolute position…

Capturing and labeling real-world 3D data is laborious and time-consuming, which makes it costly to train strong 3D models. To address this issue, recent works present a simple method by generating randomized 3D scenes without simulation…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods…

We propose SketchPlan, a diffusion-based planner that interprets 2D hand-drawn sketches over depth images to generate 3D flight paths for drone navigation. SketchPlan comprises two components: a SketchAdapter that learns to map the human…

Drones are promising for data collection in precision agriculture, however, they are limited by their battery capacity. Efficient path planners are therefore required. This paper presents a drone path planner trained using Reinforcement…

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

This paper tackles the problem of novel view synthesis from a single image. In particular, we target real-world scenes with rich geometric structure, a challenging task due to the large appearance variations of such scenes and the lack of…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…