相关论文: BAA-NGP: Bundle-Adjusting Accelerated Neural Graph…

Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in large-scale scenes due to three core challenges: \textit{(a)…

Neural Radiance Fields (NeRFs) have proven to be powerful 3D representations, capable of high quality novel view synthesis of complex scenes. While NeRFs have been applied to graphics, vision, and robotics, problems with slow rendering…

Neural network training is inherently sequential where the layers finish the forward propagation in succession, followed by the calculation and back-propagation of gradients (based on a loss function) starting from the last layer. The…

Recent techniques on implicit geometry representation learning and neural rendering have shown promising results for 3D clothed human reconstruction from sparse video inputs. However, it is still challenging to reconstruct detailed surface…

4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditions. Although recent radar and radar--inertial odometry…

Recent advances in implicit neural representation have demonstrated the ability to recover detailed geometry and material from multi-view images. However, the use of simplified lighting models such as environment maps to represent…

Considering the problem of novel view synthesis (NVS) from only a set of 2D images, we simplify the training process of Neural Radiance Field (NeRF) on forward-facing scenes by removing the requirement of known or pre-computed camera…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF,…

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

The advent of novel view synthesis techniques such as NeRF and 3D Gaussian Splatting (3DGS) has enabled learning precise 3D models only from posed monocular images. Although these methods are attractive, they hold two major limitations that…

Intra-fraction motion in radiotherapy is commonly modeled using deformable image registration (DIR). However, existing methods often struggle to balance speed and accuracy, limiting their applicability in clinical scenarios. This study…

Robotic grasping in scenes with transparent and specular objects presents great challenges for methods relying on accurate depth information. In this paper, we introduce NeuGrasp, a neural surface reconstruction method that leverages…

The creation of lifelike human avatars capable of realistic pose variation and viewpoint flexibility remains a fundamental challenge in computer vision and graphics. Current approaches typically yield either geometrically inconsistent…

Reconstructing 3D shapes from a sequence of images has long been a problem of interest in computer vision. Classical Structure from Motion (SfM) methods have attempted to solve this problem through projected point displacement \& bundle…

Computed Tomography (CT) plays a vital role in inspecting the internal structures of industrial objects. Furthermore, achieving high-quality CT reconstruction from sparse views is essential for reducing production costs. While classic…

Implicit radiance functions emerged as a powerful scene representation for reconstructing and rendering photo-realistic views of a 3D scene. These representations, however, suffer from poor editability. On the other hand, explicit…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…