相关论文: One-Shot Neural Fields for 3D Object Understanding

As recent advances in Neural Radiance Fields (NeRF) have enabled high-fidelity 3D face reconstruction and novel view synthesis, its manipulation also became an essential task in 3D vision. However, existing manipulation methods require…

Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…

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…

Neural Radiance Fields (NeRFs) provide a high fidelity, continuous scene representation that can realistically represent complex behaviour of light. Despite works like Ref-NeRF improving geometry through physics-inspired models, the ability…

With the advent of Neural Radiance Fields (NeRF), neural networks can now render novel views of a 3D scene with quality that fools the human eye. Yet, generating these images is very computationally intensive, limiting their applicability…

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…

Neural Radiance Field (NeRF) has emerged as a compelling method to represent 3D objects and scenes for photo-realistic rendering. However, its implicit representation causes difficulty in manipulating the models like the explicit mesh…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

Neural Fields have emerged as a transformative approach for 3D scene representation in computer vision and robotics, enabling accurate inference of geometry, 3D semantics, and dynamics from posed 2D data. Leveraging differentiable…

We introduce Neural Radiance and Gaze Fields (NeRGs), a novel approach for representing visual attention in complex environments. Much like how Neural Radiance Fields (NeRFs) perform novel view synthesis, NeRGs reconstruct gaze patterns…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene…

In this paper, we address the "dual problem" of multi-view scene reconstruction in which we utilize single-view images captured under different point lights to learn a neural scene representation. Different from existing single-view methods…

Neural Radiance Field (NeRF) approaches learn the underlying 3D representation of a scene and generate photo-realistic novel views with high fidelity. However, most proposed settings concentrate on modelling a single object or a single…

Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…

Neural rendering techniques combining machine learning with geometric reasoning have arisen as one of the most promising approaches for synthesizing novel views of a scene from a sparse set of images. Among these, stands out the Neural…

Obtaining high-quality 3D reconstructions of room-scale scenes is of paramount importance for upcoming applications in AR or VR. These range from mixed reality applications for teleconferencing, virtual measuring, virtual room planing, to…

Detailed and realistic 3D environment representations have been a long-standing goal in the fields of computer vision and robotics. The recent emergence of neural implicit representations has introduced significant advances to these…