相关论文: PNeRF: Probabilistic Neural Scene Representations …

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

Current methods based on Neural Radiance Fields fail in the low data limit, particularly when training on incomplete scene data. Prior works augment training data only in next-best-view applications, which lead to hallucinations and model…

Implicit neural representations (INRs) have achieved impressive results for scene reconstruction and computer graphics, where their performance has primarily been assessed on reconstruction accuracy. As INRs make their way into other…

Online reconstructing and rendering of large-scale indoor scenes is a long-standing challenge. SLAM-based methods can reconstruct 3D scene geometry progressively in real time but can not render photorealistic results. While NeRF-based…

State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we…

In this work, we propose the use of Neural Radiance Fields (NeRF) as a scene representation for visual localization. Recently, NeRF has been employed to enhance pose regression and scene coordinate regression models by augmenting the…

In recent years, Neural Radiance Fields (NeRFs) have demonstrated significant potential in encoding highly-detailed 3D geometry and environmental appearance, positioning themselves as a promising alternative to traditional explicit…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Neural Representations have recently been shown to effectively reconstruct a wide range of signals from 3D meshes and shapes to images and videos. We show that, when adapted correctly, neural representations can be used to directly…

We present a method that achieves state-of-the-art results for synthesizing novel views of complex scenes by optimizing an underlying continuous volumetric scene function using a sparse set of input views. Our algorithm represents a scene…

Utilizing multi-view inputs to synthesize novel-view images, Neural Radiance Fields (NeRF) have emerged as a popular research topic in 3D vision. In this work, we introduce a Generalizable Semantic Neural Radiance Field (GSNeRF), which…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

In this work, we aim to detect the changes caused by object variations in a scene represented by the neural radiance fields (NeRFs). Given an arbitrary view and two sets of scene images captured at different timestamps, we can predict the…

Rendering novel view images is highly desirable for many applications. Despite recent progress, it remains challenging to render high-fidelity and view-consistent novel views of large-scale scenes from in-the-wild images with inevitable…

Neural Radiance Fields (NeRF) has been wildly applied to various tasks for its high-quality representation of 3D scenes. It takes long per-scene training time and per-image testing time. In this paper, we present EfficientNeRF as an…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

Learning a 3D representation of a scene has been a challenging problem for decades in computer vision. Recent advances in implicit neural representation from images using neural radiance fields(NeRF) have shown promising results. Some of…

This paper proposes a paradigm of uncertainty injection for training deep learning model to solve robust optimization problems. The majority of existing studies on deep learning focus on the model learning capability, while assuming the…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Comprehensive 3D scene understanding, both geometrically and semantically, is important for real-world applications such as robot perception. Most of the existing work has focused on developing data-driven discriminative models for scene…