相关论文: Dynamic LiDAR Re-simulation using Compositional Ne…

Deep learning has transformed computational imaging, but traditional pixel-based representations limit their ability to capture continuous, multiscale details of objects. Here we introduce a novel Local Conditional Neural Fields (LCNF)…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

In this paper we reexamine the process through which a Neural Radiance Field (NeRF) can be trained to produce novel LiDAR views of a scene. Unlike image applications where camera pixels integrate light over time, LiDAR pulses arrive at…

With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…

Neural implicit fields have recently emerged as a powerful representation method for multi-view surface reconstruction due to their simplicity and state-of-the-art performance. However, reconstructing thin structures of indoor scenes while…

Dynamic driving scene reconstruction is of great importance in fields like digital twin system and autonomous driving simulation. However, unacceptable degradation occurs when the view deviates from the input trajectory, leading to…

Large-scale 3D scene reconstruction and novel view synthesis are vital for autonomous vehicles, especially utilizing temporally sparse LiDAR frames. However, conventional explicit representations remain a significant bottleneck towards…

Implicit neural rendering techniques have shown promising results for novel view synthesis. However, existing methods usually encode the entire scene as a whole, which is generally not aware of the object identity and limits the ability to…

Neural fields have revolutionized the area of 3D reconstruction and novel view synthesis of rigid scenes. A key challenge in making such methods applicable to articulated objects, such as the human body, is to model the deformation of 3D…

We address efficient and structure-aware 3D scene representation from images. Nerflets are our key contribution -- a set of local neural radiance fields that together represent a scene. Each nerflet maintains its own spatial position,…

Recent works use the Neural radiance field (NeRF) to perform multi-view 3D reconstruction, providing a significant leap in rendering photorealistic scenes. However, despite its efficacy, NeRF exhibits limited capability of learning…

Light field cameras have been proved to be powerful tools for 3D reconstruction and virtual reality applications. However, the limited resolution of light field images brings a lot of difficulties for further information display and…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observed moving entities while estimating free space to support…

Visually exploring in a real-world 4D spatiotemporal space freely in VR has been a long-term quest. The task is especially appealing when only a few or even single RGB cameras are used for capturing the dynamic scene. To this end, we…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

This paper presents a novel Learning from Demonstration (LfD) method that uses neural fields to learn new skills efficiently and accurately. It achieves this by utilizing a shared embedding to learn both scene and motion representations in…

Neural fields have been broadly investigated as scene representations for the reproduction and novel generation of diverse outdoor scenes, including those autonomous vehicles and robots must handle. While successful approaches for RGB and…

We present Depth-aware Image-based NEural Radiance fields (DINER). Given a sparse set of RGB input views, we predict depth and feature maps to guide the reconstruction of a volumetric scene representation that allows us to render 3D objects…

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…