相关论文: SurroundSDF: Implicit 3D Scene Understanding Based…

Implicit neural rendering, which uses signed distance function (SDF) representation with geometric priors (such as depth or surface normal), has led to impressive progress in the surface reconstruction of large-scale scenes. However,…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

As commonly used implicit geometry representations, the signed distance function (SDF) is limited to modeling watertight shapes, while the unsigned distance function (UDF) is capable of representing various surfaces. However, its inherent…

Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…

Human hands are highly articulated and versatile at handling objects. Jointly estimating the 3D poses of a hand and the object it manipulates from a monocular camera is challenging due to frequent occlusions. Thus, existing methods often…

This paper proposes a deep-learning-based method for recovering a signed distance function (SDF) of a given hypersurface represented by an implicit level set function. Using the flexibility of constructing a neural network, we use an…

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…

We introduce a novel approach for rendering static and dynamic 3D neural signed distance functions (SDF) in real-time. We rely on nested neighborhoods of zero-level sets of neural SDFs, and mappings between them. This framework supports…

Signed Distance Fields (SDFs) for surface representation are commonly generated offline and subsequently loaded into interactive applications like games. Since they are not updated every frame, they only provide a rigid surface…

Autonomous safe navigation in unstructured and novel environments poses significant challenges, especially when environment information can only be provided through low-cost vision sensors. Although safe reactive approaches have been…

Extracting surfaces from Signed Distance Fields (SDFs) can be accomplished using traditional algorithms, such as Marching Cubes. However, since they rely on sign flips across the surface, these algorithms cannot be used directly on Unsigned…

Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and…

We investigate the generalization capabilities of neural signed distance functions (SDFs) for learning 3D object representations for unseen and unlabeled point clouds. Existing methods can fit SDFs to a handful of object classes and boast…

In modern computer vision, the optimal representation of 3D shape continues to be task-dependent. One fundamental operation applied to such representations is differentiable rendering, as it enables inverse graphics approaches in learning…

Neural 3D implicit representations learn priors that are useful for diverse applications, such as single- or multiple-view 3D reconstruction. A major downside of existing approaches while rendering an image is that they require evaluating…

Compositional implicit surface representations model scenes as collections of objects, each encoded by a Signed Distance Field (SDF). A fundamental limitation of this approach is that multiple SDFs can produce geometries that…

Neural implicit representation is a promising approach for reconstructing surfaces from point clouds. Existing methods combine various regularization terms, such as the Eikonal and Laplacian energy terms, to enforce the learned neural…

Object completion networks typically produce static Signed Distance Fields (SDFs) that faithfully reconstruct geometry but cannot be rescaled or deformed without introducing structural distortions. This limitation restricts their use in…

Signed distance field (SDF) is a prominent implicit representation of 3D meshes. Methods that are based on such representation achieved state-of-the-art 3D shape reconstruction quality. However, these methods struggle to reconstruct…

Signed distance-radiance field (SDF-NeRF) is a promising environment representation that offers both photo-realistic rendering and geometric reasoning such as proximity queries for collision avoidance. However, the slow training speed and…