相关论文: NeRF-DetS: Enhanced Adaptive Spatial-wise Sampling…

Sparse 3D detectors have received significant attention since the query-based paradigm embraces low latency without explicit dense BEV feature construction. However, these detectors achieve worse performance than their dense counterparts.…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Accurate and robust 3D object detection is a critical component in autonomous vehicles and robotics. While recent radar-camera fusion methods have made significant progress by fusing information in the bird's-eye view (BEV) representation,…

We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…

Recently, the rise of query-based Transformer decoders is reshaping camera-based 3D object detection. These query-based decoders are surpassing the traditional dense BEV (Bird's Eye View)-based methods. However, we argue that dense BEV…

The main challenge for small object detection algorithms is to ensure accuracy while pursuing real-time performance. The RT-DETR model performs well in real-time object detection, but performs poorly in small object detection accuracy. In…

Aerial object detection using unmanned aerial vehicles (UAVs) faces critical challenges including sub-10px targets, dense occlusions, and stringent computational constraints. Existing detectors struggle to balance accuracy and efficiency…

Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

High dynamic range (HDR) imaging enables to immortalize natural scenes similar to the way that they are perceived by human observers. With regular low dynamic range (LDR) capture/display devices, significant details may not be preserved in…

3D object detection from point clouds is crucial in safety-critical autonomous driving. Although many works have made great efforts and achieved significant progress on this task, most of them suffer from expensive annotation cost and poor…

Sensitivity to severe occlusion and large view angles limits the usage scenarios of the existing monocular 3D dense face alignment methods. The state-of-the-art 3DMM-based method, directly regresses the model's coefficients, underutilizing…

Photo-realistic rendering and novel view synthesis play a crucial role in human-computer interaction tasks, from gaming to path planning. Neural Radiance Fields (NeRFs) model scenes as continuous volumetric functions and achieve remarkable…

In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…

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…

Achieving high-quality High Dynamic Range (HDR) imaging on resource-constrained edge devices is a critical challenge in computer vision, as its performance directly impacts downstream tasks such as intelligent surveillance and autonomous…

Current LiDAR-only 3D detection methods inevitably suffer from the sparsity of point clouds. Many multi-modal methods are proposed to alleviate this issue, while different representations of images and point clouds make it difficult to fuse…

We propose NeRF-Insert, a NeRF editing framework that allows users to make high-quality local edits with a flexible level of control. Unlike previous work that relied on image-to-image models, we cast scene editing as an in-painting…

We present a differentiable rendering framework to learn structured 3D abstractions in the form of primitive assemblies from sparse RGB images capturing a 3D object. By leveraging differentiable volume rendering, our method does not require…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…