相关论文: DISORF: A Distributed Online 3D Reconstruction Fra…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

The research on neural radiance fields for new view synthesis has experienced explosive growth with the development of new models and extensions. The NERF algorithm, suitable for underwater scenes or scattering media, is also evolving.…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…

Indoor SLAM often suffers from issues such as scene drifting, double walls, and blind spots, particularly in confined spaces with objects close to the sensors (e.g. LiDAR and cameras) in reconstruction tasks. Real-time visualization of…

Real-time 3D reconstruction is a fundamental task in computer graphics. Recently, differentiable-rendering-based SLAM system has demonstrated significant potential, enabling photorealistic scene rendering through learnable scene…

We present iSDF, a continual learning system for real-time signed distance field (SDF) reconstruction. Given a stream of posed depth images from a moving camera, it trains a randomly initialised neural network to map input 3D coordinate to…

Despite advancements in Neural Implicit models for 3D surface reconstruction, handling dynamic environments with interactions between arbitrary rigid, non-rigid, or deformable entities remains challenging. The generic reconstruction methods…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

All current non-rigid structure from motion (NRSfM) algorithms are limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many…

Current AI/ML methods for data-driven engineering use models that are mostly trained offline. Such models can be expensive to build in terms of communication and computing cost, and they rely on data that is collected over extended periods…

Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…

This paper introduces a novel continual learning framework for synthesising novel views of multiple scenes, learning multiple 3D scenes incrementally, and updating the network parameters only with the training data of the upcoming new…

3D reassembly is a fundamental geometric problem, and in recent years it has increasingly been challenged by deep learning methods rather than classical optimization. While learning approaches have shown promising results, most still rely…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Non-Rigid Structure from Motion (NRSfM) refers to the problem of reconstructing cameras and the 3D point cloud of a non-rigid object from an ensemble of images with 2D correspondences. Current NRSfM algorithms are limited from two…

We study the problem of reconstructing 3D feature curves of an object from a set of calibrated multi-view images. To do so, we learn a neural implicit field representing the density distribution of 3D edges which we refer to as Neural Edge…

In the evolving landscape of digital media and video production, the precise manipulation and reproduction of visual elements like camera movements and character actions are highly desired. Existing SLAM methods face limitations in dynamic…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…