相关论文: Uncertainty-Driven Active Vision for Implicit Scen…

The presence of occlusions has provided substantial challenges to typically-powerful object recognition algorithms. Additional sources of information can be extremely valuable to reduce errors caused by occlusions. Scene context is known to…

The demands on visual recognition systems do not end with the complexity offered by current large-scale image datasets, such as ImageNet. In consequence, we need curious and continuously learning algorithms that actively acquire knowledge…

NeRFs have achieved incredible success in novel view synthesis. However, the accuracy of the implicit geometry is unsatisfactory because the passive static environmental illumination has low spatial frequency and cannot provide enough…

The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…

We develop an approach for active semantic perception which refers to using the semantics of the scene for tasks such as exploration. We build a compact, hierarchical multi-layer scene graph that can represent large, complex indoor…

Many autonomous robotic applications require object-level understanding when deployed. Actively reconstructing objects of interest, i.e. objects with specific semantic meanings, is therefore relevant for a robot to perform downstream tasks…

Representing visual signals with implicit coordinate-based neural networks, as an effective replacement of the traditional discrete signal representation, has gained considerable popularity in computer vision and graphics. In contrast to…

In this work, we aim to address the 3D scene stylization problem - generating stylized images of the scene at arbitrary novel view angles. A straightforward solution is to combine existing novel view synthesis and image/video style transfer…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

Reconstructing physically stable 3D scenes from a single RGB image enables casual images to be converted into simulation-ready digital assets for applications such as immersive interaction and content creation. However, existing…

While self-supervised learning techniques are often used to mining implicit knowledge from unlabeled data via modeling multiple views, it is unclear how to perform effective representation learning in a complex and inconsistent context. To…

Inspired by the recent advances in implicitly representing signals with trained neural networks, we aim to learn a continuous representation for narrow-baseline 4D light fields. We propose an implicit representation model for 4D light…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…

Recently, multiple formulations of vision problems as probabilistic inversions of generative models based on computer graphics have been proposed. However, applications to 3D perception from natural images have focused on low-dimensional…

The remarkable achievements of both generative models of 2D images and neural field representations for 3D scenes present a compelling opportunity to integrate the strengths of both approaches. In this work, we propose a methodology that…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Human decision-making often relies on visual information from multiple perspectives or views. In contrast, machine learning-based object recognition utilizes information from a single image of the object. However, the information conveyed…