相关论文: Neural Rendering based Urban Scene Reconstruction …

In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…

Autonomous driving must operate across diverse surfaces to enable safe mobility. However, most driving datasets are captured on well-paved flat roads. Moreover, recent driving datasets primarily provide sparse LiDAR ground truth for images,…

Dense reconstruction and differentiable rendering are fundamental tightly connected operations in 3D vision and computer graphics. Recent neural implicit representations demonstrate compelling advantages in reconstruction fidelity and…

Reconstructing detailed 3D scenes from single-view images remains a challenging task due to limitations in existing approaches, which primarily focus on geometric shape recovery, overlooking object appearances and fine shape details. To…

Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS)…

Neural signed distance functions (SDFs) are emerging as an effective representation for 3D shapes. State-of-the-art methods typically encode the SDF with a large, fixed-size neural network to approximate complex shapes with implicit…

Dense reconstructions often contain errors that prior work has so far minimised using high quality sensors and regularising the output. Nevertheless, errors still persist. This paper proposes a machine learning technique to identify errors…

The accurate characterisation of the 3D deformations of slender fibres and thin sheets in flow, is a key experimental challenge in the study of particle-laden flows. We propose a high-resolution, single-camera method to visualise…

3D object reconstructions of transparent and concave structured objects, with inferred material properties, remains an open research problem for robot navigation in unstructured environments. In this paper, we propose a multimodal single-…

Three-dimensional (3D) object reconstruction based on differentiable rendering (DR) is an active research topic in computer vision. DR-based methods minimize the difference between the rendered and target images by optimizing both the shape…

This paper is about the efficient generation of dense, colored models of city-scale environments from range data and in particular, stereo cameras. Better maps make for better understanding; better understanding leads to better robots, but…

Dynamic scene rendering and reconstruction play a crucial role in computer vision and augmented reality. Recent methods based on 3D Gaussian Splatting (3DGS), have enabled accurate modeling of dynamic urban scenes, but for urban scenes they…

We propose DeRenderNet, a deep neural network to decompose the albedo and latent lighting, and render shape-(in)dependent shadings, given a single image of an outdoor urban scene, trained in a self-supervised manner. To achieve this goal,…

Volumetric depth map fusion based on truncated signed distance functions has become a standard method and is used in many 3D reconstruction pipelines. In this paper, we are generalizing this classic method in multiple ways: 1) Semantics:…

We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are…

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…

This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…

Neural radiance fields (NeRFs) have recently emerged as a promising approach for 3D reconstruction and novel view synthesis. However, NeRF-based methods encode shape, reflectance, and illumination implicitly and this makes it challenging…