相关论文: 3D-Aware Object Localization using Gaussian Implic…

We present GSLoc: a new visual localization method that performs dense camera alignment using 3D Gaussian Splatting as a map representation of the scene. GSLoc backpropagates pose gradients over the rendering pipeline to align the rendered…

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our…

Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Event-based object detection has recently garnered attention in the computer vision community due to the exceptional properties of event cameras, such as high dynamic range and no motion blur. However, feature asynchronism and sparsity…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

We tackle the problem of object detection and pose estimation in a shared space downtown environment. For perception multiple laser scanners with 360{\deg} coverage were fused in a dynamic occupancy grid map (DOGMa). A single-stage deep…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

We consider the problem of user-adaptive 3D gaze estimation. The performance of person-independent gaze estimation is limited due to interpersonal anatomical differences. Our goal is to provide a personalized gaze estimation model…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

Images of heavily occluded objects in cluttered scenes, such as fruit clusters in trees, are hard to segment. To further retrieve the 3D size and 6D pose of each individual object in such cases, bounding boxes are not reliable from multiple…

We investigate data augmentation for 3D object detection in autonomous driving. We utilize recent advancements in 3D reconstruction based on Gaussian Splatting for 3D object placement in driving scenes. Unlike existing diffusion-based…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

Image representation is a fundamental task in computer vision. Recently, Gaussian Splatting has emerged as an efficient representation framework, and its extension to 2D image representation enables lightweight, yet expressive modeling of…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

3D semantic occupancy prediction is one of the crucial tasks of autonomous driving. It enables precise and safe interpretation and navigation in complex environments. Reliable predictions rely on effective sensor fusion, as different…