相关论文: Di-NeRF: Distributed NeRF for Collaborative Learni…

Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the representation of natural, complex 3D scenes. NeRFs represent continuous volumetric density and RGB values in a neural network, and generate photo-realistic…

Recent advances in Neural Radiance Fields (NeRF) have demonstrated significant potential for representing 3D scene appearances as implicit neural networks, enabling the synthesis of high-fidelity novel views. However, the lengthy training…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

Autonomous driving systems rely on accurate perception and localization of the ego car to ensure safety and reliability in challenging real-world driving scenarios. Public datasets play a vital role in benchmarking and guiding advancement…

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…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

The reliance on accurate camera poses is a significant barrier to the widespread deployment of Neural Radiance Fields (NeRF) models for 3D reconstruction and SLAM tasks. The existing method introduces monocular depth priors to jointly…

Recent advances in Neural Radiance Fields (NeRF) have demonstrated promising results in 3D scene representations, including 3D human representations. However, these representations often lack crucial information on the underlying human pose…

Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…

The proposal introduces an innovative drone swarm perception system that aims to solve problems related to computational limitations and low-bandwidth communication, and real-time scene reconstruction. The framework enables efficient…

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…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

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…

This paper presents a framework that combines traditional keypoint-based camera pose optimization with an invertible neural rendering mechanism. Our proposed 3D scene representation, Nerfels, is locally dense yet globally sparse. As opposed…

We use neural radiance fields (NeRFs) to build interactive 3D environments from large-scale visual captures spanning buildings or even multiple city blocks collected primarily from drones. In contrast to single object scenes (on which NeRFs…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

Neural Radiance Fields (NeRF) have demonstrated very impressive performance in novel view synthesis via implicitly modelling 3D representations from multi-view 2D images. However, most existing studies train NeRF models with either…

Recent progress in large-scale scene rendering has yielded Neural Radiance Fields (NeRF)-based models with an impressive ability to synthesize scenes across small objects and indoor scenes. Nevertheless, extending this idea to large-scale…

Simultaneously odometry and mapping using LiDAR data is an important task for mobile systems to achieve full autonomy in large-scale environments. However, most existing LiDAR-based methods prioritize tracking quality over reconstruction…