相关论文: Object Registration in Neural Fields

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

Traditional Scene Understanding problems such as Object Detection and Semantic Segmentation have made breakthroughs in recent years due to the adoption of deep learning. However, the former task is not able to localise objects at a pixel…

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…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Neural Radiance Fields (NeRFs) provide a high fidelity, continuous scene representation that can realistically represent complex behaviour of light. Despite works like Ref-NeRF improving geometry through physics-inspired models, the ability…

This project presents an exploration into 3D scene reconstruction of synthetic and real-world scenes using Neural Radiance Field (NeRF) approaches. We primarily take advantage of the reduction in training and rendering time of neural…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Semantic labelling is highly correlated with geometry and radiance reconstruction, as scene entities with similar shape and appearance are more likely to come from similar classes. Recent implicit neural reconstruction techniques are…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Diffeomorphic image registration, offering smooth transformation and topology preservation, is required in many medical image analysis tasks.Traditional methods impose certain modeling constraints on the space of admissible transformations…

Registration is a fundamental task in medical image analysis which can be applied to several tasks including image segmentation, intra-operative tracking, multi-modal image alignment, and motion analysis. Popular registration tools such as…

In visual computing, 3D geometry is represented in many different forms including meshes, point clouds, voxel grids, level sets, and depth images. Each representation is suited for different tasks thus making the transformation of one…

Deep neural networks (DNNs) have shown remarkable performance improvements on vision-related tasks such as object detection or image segmentation. Despite their success, they generally lack the understanding of 3D objects which form the…

Scene recognition model based on the DNN and game theory with its applications in human-robot interaction is proposed in this paper. The use of deep learning methods in the field of scene recognition is still in its infancy, but has become…

Learning to insert an object instance into an image in a semantically coherent manner is a challenging and interesting problem. Solving it requires (a) determining a location to place an object in the scene and (b) determining its…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

Neural Radiance Fields (NeRF) have recently gained a surge of interest within the computer vision community for its power to synthesize photorealistic novel views of real-world scenes. One limitation of NeRF, however, is its requirement of…

We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…