相关论文: Local Neural Descriptor Fields: Locally Conditione…

Normal estimation for unstructured point clouds is an important task in 3D computer vision. Current methods achieve encouraging results by mapping local patches to normal vectors or learning local surface fitting using neural networks.…

Editing a local region or a specific object in a 3D scene represented by a NeRF or consistently blending a new realistic object into the scene is challenging, mainly due to the implicit nature of the scene representation. We present…

There has been rapid progress recently on 3D human rendering, including novel view synthesis and pose animation, based on the advances of neural radiance fields (NeRF). However, most existing methods focus on person-specific training and…

We propose Medial Atom Ray Fields (MARFs), a novel neural object representation that enables accurate differentiable surface rendering with a single network evaluation per camera ray. Existing neural ray fields struggle with multi-view…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

This paper presents a new technique for learning category-level manipulation from raw RGB-D videos of task demonstrations, with no manual labels or annotations. Category-level learning aims to acquire skills that can be generalized to new…

Local feature extraction is a standard approach in computer vision for tackling important tasks such as image matching and retrieval. The core assumption of most methods is that images undergo affine transformations, disregarding more…

In this paper a novel hand crafted local quadruple pattern (LQPAT) is proposed for facial image recognition and retrieval. Most of the existing hand-crafted descriptors encodes only a limited number of pixels in the local neighbourhood.…

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…

Extensions of Neural Radiance Fields (NeRFs) to model dynamic scenes have enabled their near photo-realistic, free-viewpoint rendering. Although these methods have shown some potential in creating immersive experiences, two drawbacks limit…

We present Neural Fields for LiDAR (NFL), a method to optimise a neural field scene representation from LiDAR measurements, with the goal of synthesizing realistic LiDAR scans from novel viewpoints. NFL combines the rendering power of…

Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments. Additionally, to make robust decisions, it is necessary for…

As robots become increasingly integrated into everyday tasks, their ability to perceive both the shape and properties of objects during in-hand manipulation becomes critical for adaptive and intelligent behavior. We present SemanticFeels,…

We present a novel method for local image feature matching. Instead of performing image feature detection, description, and matching sequentially, we propose to first establish pixel-wise dense matches at a coarse level and later refine the…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

We present Visual-Language Fields (VL-Fields), a neural implicit spatial representation that enables open-vocabulary semantic queries. Our model encodes and fuses the geometry of a scene with vision-language trained latent features by…

We present Factor Fields, a novel framework for modeling and representing signals. Factor Fields decomposes a signal into a product of factors, each represented by a classical or neural field representation which operates on transformed…

We present a new method for estimating the Neural Reflectance Field (NReF) of an object from a set of posed multi-view images under unknown lighting. NReF represents 3D geometry and appearance of objects in a disentangled manner, and are…

Neural fields are receiving increased attention as a geometric representation due to their ability to compactly store detailed and smooth shapes and easily undergo topological changes. Compared to classic geometry representations, however,…

We present a method for composing photorealistic scenes from captured images of objects. Our work builds upon neural radiance fields (NeRFs), which implicitly model the volumetric density and directionally-emitted radiance of a scene. While…