相关论文: DEMOS: Dynamic Environment Motion Synthesis in 3D …

The SLAM system based on static scene assumption will introduce huge estimation errors when moving objects appear in the field of view. This paper proposes a novel multi-object dynamic lidar odometry (MLO) based on semantic object detection…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

Event cameras such as DAVIS can simultaneously output high temporal resolution events and low frame-rate intensity images, which own great potential in capturing scene motion, such as optical flow estimation. Most of the existing optical…

The task of generating natural images from 3D scenes has been a long standing goal in computer graphics. On the other hand, recent developments in deep neural networks allow for trainable models that can produce natural-looking images with…

3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…

Human motion synthesis in complex scenes presents a fundamental challenge, extending beyond conventional Text-to-Motion tasks by requiring the integration of diverse modalities such as static environments, movable objects, natural language…

Repurposing pre-trained diffusion models has been proven to be effective for NVS. However, these methods are mostly limited to a single object; directly applying such methods to compositional multi-object scenarios yields inferior results,…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

This paper presents a novel generative approach that outputs 3D indoor environments solely from a textual description of the scene. Current methods often treat scene synthesis as a mere layout prediction task, leading to rooms with…

The traditional Simultaneous Localization And Mapping (SLAM) systems rely on the assumption of a static environment and fail to accurately estimate the system's location when dynamic objects are present in the background. While…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

We present a method to perform novel view and time synthesis of dynamic scenes, requiring only a monocular video with known camera poses as input. To do this, we introduce Neural Scene Flow Fields, a new representation that models the…

For autonomous agents to successfully operate in the real world, the ability to anticipate future scene states is a key competence. In real-world scenarios, future states become increasingly uncertain and multi-modal, particularly on long…

Character video synthesis aims to produce realistic videos of animatable characters within lifelike scenes. As a fundamental problem in the computer vision and graphics community, 3D works typically require multi-view captures for per-case…

Motion, scene and object are three primary visual components of a video. In particular, objects represent the foreground, scenes represent the background, and motion traces their dynamics. Based on this insight, we propose a two-stage…

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…

We present an efficient neural 3D scene representation for novel-view synthesis (NVS) in large-scale, dynamic urban areas. Existing works are not well suited for applications like mixed-reality or closed-loop simulation due to their limited…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…