相关论文: Neural Rendering based Urban Scene Reconstruction …

Image deraining holds great potential for enhancing the vision of autonomous vehicles in rainy conditions, contributing to safer driving. Previous works have primarily focused on employing a single network architecture to generate derained…

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…

In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…

Autonomous driving simulation system plays a crucial role in enhancing self-driving data and simulating complex and rare traffic scenarios, ensuring navigation safety. However, traditional simulation systems, which often heavily rely on…

Monocular depth reconstruction of complex and dynamic scenes is a highly challenging problem. While for rigid scenes learning-based methods have been offering promising results even in unsupervised cases, there exists little to no…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…

We propose Neural-DynamicReconstruction (NDR), a template-free method to recover high-fidelity geometry and motions of a dynamic scene from a monocular RGB-D camera. In NDR, we adopt the neural implicit function for surface representation…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

Autonomous driving requires a detailed understanding of complex driving scenes. The redundancy and complementarity of the vehicle's sensors provide an accurate and robust comprehension of the environment, thereby increasing the level of…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…

Inferring a meaningful geometric scene representation from a single image is a fundamental problem in computer vision. Approaches based on traditional depth map prediction can only reason about areas that are visible in the image.…

In this work, we present a new method for 3D face reconstruction from sparse-view RGB images. Unlike previous methods which are built upon 3D morphable models (3DMMs) with limited details, we leverage an implicit representation to encode…

We present a novel multi-view implicit surface reconstruction technique, termed StreetSurf, that is readily applicable to street view images in widely-used autonomous driving datasets, such as Waymo-perception sequences, without necessarily…

Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits spinning LiDAR scan formation and presents a cylindrical…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

The goal of this work is to perform 3D reconstruction and novel view synthesis from data captured by scanning platforms commonly deployed for world mapping in urban outdoor environments (e.g., Street View). Given a sequence of posed RGB…

Implicit representations such as Neural Radiance Fields (NeRF) have been shown to be very effective at novel view synthesis. However, these models typically require manual and careful human data collection for training. In this paper, we…

This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to recover both appearance and structural information from…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…