相关论文: Looking Around Corners: Generative Methods in Terr…

Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…

Generative modeling is typically framed as learning mapping rules, but from an observer's perspective without access to these rules, the task becomes disentangling the geometric support from the probability distribution. We propose that…

A considerable amount of research is concerned with the generation of realistic sensor data. LiDAR point clouds are generated by complex simulations or learned generative models. The generated data is usually exploited to enable or improve…

Large-scale terrain scans are the basis for many important tasks, such as topographic mapping, forestry, agriculture, and infrastructure planning. The resulting point cloud data sets are so massive in size that even basic tasks like viewing…

In this paper, we propose a transformer based approach for visual grounding. Unlike previous proposal-and-rank frameworks that rely heavily on pretrained object detectors or proposal-free frameworks that upgrade an off-the-shelf one-stage…

Generative models can produce impressively realistic images. This paper demonstrates that generated images have geometric features different from those of real images. We build a set of collections of generated images, prequalified to fool…

Gated imaging is an emerging sensor technology for self-driving cars that provides high-contrast images even under adverse weather influence. It has been shown that this technology can even generate high-fidelity dense depth maps with…

In this work, we present a novel method for extensive multi-scale generative terrain modeling. At the core of our model is a cascade of superresolution diffusion models that can be combined to produce consistent images across multiple…

We propose a new representation for encoding 3D shapes as neural fields. The representation is designed to be compatible with the transformer architecture and to benefit both shape reconstruction and shape generation. Existing works on…

In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are…

Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural fields or fully explicit geometric primitives. Implicit…

Recent advances in generative modeling, namely Diffusion models, have revolutionized generative modeling, enabling high-quality image generation tailored to user needs. This paper proposes a framework for the generative design of structural…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

In this work, we propose a cross-view learning approach, in which images captured from a ground-level view are used as weakly supervised annotations for interpreting overhead imagery. The outcome is a convolutional neural network for…

Modern generative models are usually designed to match target distributions directly in the data space, where the intrinsic dimension of data can be much lower than the ambient dimension. We argue that this discrepancy may contribute to the…

The terrain survey techniques of photogrammetry, LIDAR, Sonar or seismic studies are subject to limitation of shadow zones. It is not possible to capture the terrain pattern and requires interpolation and extrapolation for conformal mapping…

Point cloud data is ubiquitous in scientific fields. Recently, geometric deep learning (GDL) has been widely applied to solve prediction tasks with such data. However, GDL models are often complicated and hardly interpretable, which poses…

With the capacity of modeling long-range dependencies in sequential data, transformers have shown remarkable performances in a variety of generative tasks such as image, audio, and text generation. Yet, taming them in generating less…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

We propose a generative model of unordered point sets, such as point clouds, in the form of an energy-based model, where the energy function is parameterized by an input-permutation-invariant bottom-up neural network. The energy function…