相关论文: PAg-NeRF: Towards fast and efficient end-to-end pa…

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…

Neural Radiance Fields (NeRF) has been wildly applied to various tasks for its high-quality representation of 3D scenes. It takes long per-scene training time and per-image testing time. In this paper, we present EfficientNeRF as an…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

Training perception systems for self-driving cars requires substantial 2D annotations that are labor-intensive to manual label. While existing datasets provide rich annotations on pre-recorded sequences, they fall short in labeling rarely…

Training a policy that can generalize to unknown objects is a long standing challenge within the field of robotics. The performance of a policy often drops significantly in situations where an object in the scene was not seen during…

Large-scale training data with high-quality annotations is critical for training semantic and instance segmentation models. Unfortunately, pixel-wise annotation is labor-intensive and costly, raising the demand for more efficient labeling…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Neural Radiance Field (NeRF) has recently emerged as a powerful representation to synthesize photorealistic novel views. While showing impressive performance, it relies on the availability of dense input views with highly accurate camera…

Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered…

NeRF provides unparalleled fidelity of novel view synthesis: rendering a 3D scene from an arbitrary viewpoint. NeRF requires training on a large number of views that fully cover a scene, which limits its applicability. While these issues…

Accurate reconstruction of plant phenotypes plays a key role in optimising sustainable farming practices in the field of Precision Agriculture (PA). Currently, optical sensor-based approaches dominate the field, but the need for…

Neural rendering techniques combining machine learning with geometric reasoning have arisen as one of the most promising approaches for synthesizing novel views of a scene from a sparse set of images. Among these, stands out the Neural…

Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…

Neural rendering has garnered substantial attention owing to its capacity for creating realistic 3D scenes. However, its applicability to extensive scenes remains challenging, with limitations in effectiveness. In this work, we propose the…

In this paper, we propose a One-Point-One NeRF (OPONeRF) framework for robust scene rendering. Existing NeRFs are designed based on a key assumption that the target scene remains unchanged between the training and test time. However, small…

Dynamic neural radiance fields (dynamic NeRFs) have demonstrated impressive results in novel view synthesis on 3D dynamic scenes. However, they often require complete video sequences for training followed by novel view synthesis, which is…

Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…

Existing neural radiance fields (NeRF)-based novel view synthesis methods for large-scale outdoor scenes are mainly built on a single altitude. Moreover, they often require a priori camera shooting height and scene scope, leading to…

Current methods for 3D reconstruction and environmental mapping frequently face challenges in achieving high precision, highlighting the need for practical and effective solutions. In response to this issue, our study introduces FlyNeRF, a…

Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…