相关论文: HIO-SDF: Hierarchical Incremental Online Signed Di…

Reconstructing signed distance functions (SDFs) from point cloud data benefits many robot autonomy capabilities, including localization, mapping, motion planning, and control. Methods that support online and large-scale SDF reconstruction…

Remote sensing image interpretation plays a critical role in environmental monitoring, urban planning, and disaster assessment. However, acquiring high-quality labeled data is often costly and time-consuming. To address this challenge, we…

Modeling the mechanics of fluid in complex scenes is vital to applications in design, graphics, and robotics. Learning-based methods provide fast and differentiable fluid simulators, however most prior work is unable to accurately model how…

Probabilistic diffusion models have achieved state-of-the-art results for image synthesis, inpainting, and text-to-image tasks. However, they are still in the early stages of generating complex 3D shapes. This work proposes Diffusion-SDF, a…

It is vital to infer a signed distance function (SDF) in multi-view based surface reconstruction. 3D Gaussian splatting (3DGS) provides a novel perspective for volume rendering, and shows advantages in rendering efficiency and quality.…

Current 3D representations like meshes, voxels, point clouds, and NeRF-based neural implicit fields exhibit significant limitations: they are often task-specific, lacking universal applicability across reconstruction, generation, editing,…

In this paper, we introduce Hi-Map, a novel monocular dense mapping approach based on Neural Radiance Field (NeRF). Hi-Map is exceptional in its capacity to achieve efficient and high-fidelity mapping using only posed RGB inputs. Our method…

In this work, we present I$^2$-SDF, a new method for intrinsic indoor scene reconstruction and editing using differentiable Monte Carlo raytracing on neural signed distance fields (SDFs). Our holistic neural SDF-based framework jointly…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

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…

In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…

Neural surfaces learning has shown impressive performance in multi-view surface reconstruction. However, most existing methods use large multilayer perceptrons (MLPs) to train their models from scratch, resulting in hours of training for a…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

Multi-view neural surface reconstruction has exhibited impressive results. However, a notable limitation is the prohibitively slow inference time when compared to traditional techniques, primarily attributed to the dense sampling, required…

Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on reference motions or task-specific rewards, tightly coupling…

Current diffusion or flow-based generative models for 3D shapes divide to two: distilling pre-trained 2D image diffusion models, and training directly on 3D shapes. When training a diffusion or flow models on 3D shapes a crucial design…

In this paper, we propose a novel end-to-end relightable neural inverse rendering system that achieves high-quality reconstruction of geometry and material properties, thus enabling high-quality relighting. The cornerstone of our method is…

With the rising industrial attention to 3D virtual modeling technology, generating novel 3D content based on specified conditions (e.g. text) has become a hot issue. In this paper, we propose a new generative 3D modeling framework called…

We investigate the generalization capabilities of neural signed distance functions (SDFs) for learning 3D object representations for unseen and unlabeled point clouds. Existing methods can fit SDFs to a handful of object classes and boast…

Neural implicit surface reconstruction with signed distance function has made significant progress, but recovering fine details such as thin structures and complex geometries remains challenging due to unreliable or noisy geometric priors.…