相关论文: D$^3$Fields: Dynamic 3D Descriptor Fields for Zero…

In recent years, substantial progress has been achieved in learning-based reconstruction of 3D objects. At the same time, generative models were proposed that can generate highly realistic images. However, despite this success in these…

We present Factor Fields, a novel framework for modeling and representing signals. Factor Fields decomposes a signal into a product of factors, each represented by a classical or neural field representation which operates on transformed…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Understanding and reasoning about complex 3D environments requires structured scene representations that capture not only objects but also their semantic and spatial relationships. While recent works on 3D scene graph generation have…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

This paper develops a mathematical argument and algorithms for building representations of data from event-based cameras, that we call Fast Feature Field ($\text{F}^3$). We learn this representation by predicting future events from past…

Robotic grasping of house-hold objects has made remarkable progress in recent years. Yet, human grasps are still difficult to synthesize realistically. There are several key reasons: (1) the human hand has many degrees of freedom (more than…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

Implicit representations of 3D objects have recently achieved impressive results on learning-based 3D reconstruction tasks. While existing works use simple texture models to represent object appearance, photo-realistic image synthesis…

In recent years, implicit functions have drawn attention in the field of 3D reconstruction and have successfully been applied with Deep Learning. However, for incremental reconstruction, implicit function-based registrations have been…

Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…

We introduce a general, scalable computational framework for multi-axis 3D printing based on implicit neural fields (INFs) that unifies all stages of toolpath generation and global collision-free motion planning. In our pipeline, input…

We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the…

Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several works have shown progress towards object compositional…

3D scene segmentation based on neural implicit representation has emerged recently with the advantage of training only on 2D supervision. However, existing approaches still requires expensive per-scene optimization that prohibits…

Implicit representations of geometry, such as occupancy fields or signed distance fields (SDF), have recently re-gained popularity in encoding 3D solid shape in a functional form. In this work, we introduce medial fields: a field function…

Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…