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

3D Gaussian Splatting (3DGS) has emerged as a powerful and efficient 3D representation for novel view synthesis. This paper extends 3DGS capabilities to inpainting, where masked objects in a scene are replaced with new contents that blend…

Understanding and explaining deep learning models is an imperative task. Towards this, we propose a method that obtains gradient-based certainty estimates that also provide visual attention maps. Particularly, we solve for visual question…

Inferring 3D structures from sparse, unposed observations is challenging due to its unconstrained nature. Recent methods propose to predict implicit representations directly from unposed inputs in a data-driven manner, achieving promising…

Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

We address the problem of active mapping with a continually-learned neural scene representation, namely Active Neural Mapping. The key lies in actively finding the target space to be explored with efficient agent movement, thus minimizing…

Implicit function based surface reconstruction has been studied for a long time to recover 3D shapes from point clouds sampled from surfaces. Recently, Signed Distance Functions (SDFs) and Occupany Functions are adopted in learning-based…

Recent learning approaches that implicitly represent surface geometry using coordinate-based neural representations have shown impressive results in the problem of multi-view 3D reconstruction. The effectiveness of these techniques is,…

Recurrent feedback connections in the mammalian visual system have been hypothesized to play a role in synthesizing input in the theoretical framework of analysis by synthesis. The comparison of internally synthesized representation with…

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…

To reach human performance on complex tasks, a key ability for artificial systems is to understand physical interactions between objects, and predict future outcomes of a situation. This ability, often referred to as intuitive physics, has…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Unsupervised multi-object scene decomposition is a fast-emerging problem in representation learning. Despite significant progress in static scenes, such models are unable to leverage important dynamic cues present in video. We propose a…

Visual scene understanding is a fundamental task in computer vision that aims to extract meaningful information from visual data. It traditionally involves disjoint and specialized algorithms for different tasks that are tailored for…

We present a novel multi-view implicit surface reconstruction technique, termed StreetSurf, that is readily applicable to street view images in widely-used autonomous driving datasets, such as Waymo-perception sequences, without necessarily…

Recently, learning-based approaches for 3D reconstruction from 2D images have gained popularity due to its modern applications, e.g., 3D printers, autonomous robots, self-driving cars, virtual reality, and augmented reality. The computer…

Scene-understanding is an important topic in the area of Computer Vision, and illustrates computational challenges with applications to a wide range of domains including remote sensing, surveillance, smart agriculture, robotics, autonomous…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

The increasing adoption of Deep Neural Networks (DNNs) has led to their application in many challenging scientific visualization tasks. While advanced DNNs offer impressive generalization capabilities, understanding factors such as model…

We develop a framework for task-specific active next-best-view selection in 3D reconstruction from point clouds, by casting the problem in the language of Bayesian decision theory. Our framework works by (a) placing a prior distribution…