相关论文: HexPlane: A Fast Representation for Dynamic Scenes

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…

3D Gaussian splatting (3DGS) has demonstrated exceptional performance in image-based 3D reconstruction and real-time rendering. However, regions with complex textures require numerous Gaussians to capture significant color variations…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

Capturing and reconstructing high-speed dynamic 3D scenes has numerous applications in computer graphics, vision, and interdisciplinary fields such as robotics, aerodynamics, and evolutionary biology. However, achieving this using a single…

Efficient scene representations are essential for many real-world applications, especially those involving spatial measurement. Although current NeRF-based methods have achieved impressive results in reconstructing building-scale scenes,…

Enabling agents to understand and interact with complex 3D scenes is a fundamental challenge for embodied artificial intelligence systems. While Multimodal Large Language Models (MLLMs) have achieved significant progress in 2D image…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Planes are fundamental primitives of 3D sences, especially in man-made environments such as indoor spaces and urban streets. Representing these planes in a structured and parameterized format facilitates scene editing and physical…

This paper proposes a method to reconstruct the neural radiance field with equirectangular omnidirectional images. Implicit neural scene representation with a radiance field can reconstruct the 3D shape of a scene continuously within a…

We introduce a framework for learning latent representations of 4D objects which are descriptive, faithfully capturing object geometry and appearance; compressive, aiding in downstream efficiency; and accessible, requiring minimal input,…

Recent advances in feed-forward 3D Gaussian Splatting have led to rapid improvements in efficient scene reconstruction from sparse views. However, most existing approaches construct Gaussian primitives directly aligned with the pixels in…

Recent advances in neural scene representations have led to unprecedented quality in 3D reconstruction and view synthesis. Despite achieving high-quality results for common benchmarks with curated data, outputs often degrade for data that…

Neural 3D scene representations have shown great potential for 3D reconstruction from 2D images. However, reconstructing real-world captures of complex scenes still remains a challenge. Existing generic 3D reconstruction methods often…

Representing and rendering dynamic scenes from 2D images is a fundamental yet challenging problem in computer vision and graphics. This survey provides a comprehensive review of the evolution and advancements in dynamic scene representation…

Deep generative models allow for photorealistic image synthesis at high resolutions. But for many applications, this is not enough: content creation also needs to be controllable. While several recent works investigate how to disentangle…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Recent progress in large-scale scene rendering has yielded Neural Radiance Fields (NeRF)-based models with an impressive ability to synthesize scenes across small objects and indoor scenes. Nevertheless, extending this idea to large-scale…