相关论文: Sat2Density: Faithful Density Learning from Satell…

Learning-based image matching critically depends on large-scale, diverse, and geometrically accurate training data. 3D Gaussian Splatting (3DGS) enables photorealistic novel-view synthesis and thus is attractive for data generation.…

In this paper, we study the problem of continuous 3D shape representations. The majority of existing successful methods are coordinate-based implicit neural representations. However, they are inefficient to render novel views or recover…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

Novel view synthesis aims to generate new view images of a given view image collection. Recent attempts address this problem relying on 3D geometry priors (e.g., shapes, sizes, and positions) learned from multi-view images. However, such…

Neural volumetric representations have become a widely adopted model for radiance fields in 3D scenes. These representations are fully implicit or hybrid function approximators of the instantaneous volumetric radiance in a scene, which are…

3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…

This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…

Depth-guided 3D reconstruction has gained popularity as a fast alternative to optimization-heavy approaches, yet existing methods still suffer from scale drift, multi-view inconsistencies, and the need for substantial refinement to achieve…

We introduce a novel approach for depth estimation using images obtained from monocular structured light systems. In contrast to many existing methods that depend on image matching, our technique employs a density voxel grid to represent…

Digital Surface Model generation from satellite imagery is a core task in Earth observation and is commonly addressed using classical stereoscopic matching algorithms in satellite pipelines as in the Satellite Stereo Pipeline (S2P). While…

Neural radiance fields provide state-of-the-art view synthesis quality but tend to be slow to render. One reason is that they make use of volume rendering, thus requiring many samples (and model queries) per ray at render time. Although…

Leveraging synthetically rendered data offers great potential to improve monocular depth estimation and other geometric estimation tasks, but closing the synthetic-real domain gap is a non-trivial and important task. While much recent work…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

With the introduction of consumer light field cameras, light field imaging has recently become widespread. However, there is an inherent trade-off between the angular and spatial resolution, and thus, these cameras often sparsely sample in…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…

Generating ground-level images from aerial views is a challenging task due to extreme viewpoint disparity, occlusions, and a limited field of view. We introduce Top2Ground, a novel diffusion-based method that directly generates…

The accelerating deployment of spacecraft in orbit have generated interest in on-orbit servicing (OOS), inspection of spacecraft, and active debris removal (ADR). Such missions require precise rendezvous and proximity operations in the…

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…

Neural radiance fields have recently revolutionized novel-view synthesis and achieved high-fidelity renderings. However, these methods sacrifice the geometry for the rendering quality, limiting their further applications including…

The deep-learning based image matching networks can now handle significantly larger variations in viewpoints and illuminations while providing matched pairs of pixels with sub-pixel precision. These networks have been trained with…