相关论文: SceneFactory: A Workflow-centric and Unified Frame…

State-of-the-art scene flow algorithms pursue the conflicting targets of accuracy, run time, and robustness. With the successful concept of pixel-wise matching and sparse-to-dense interpolation, we push the limits of scene flow estimation.…

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However,…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

We propose a dense neural simultaneous localization and mapping (SLAM) approach for monocular RGBD input which anchors the features of a neural scene representation in a point cloud that is iteratively generated in an input-dependent…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Multi-camera surveillance has been an active research topic for understanding and modeling scenes. Compared to a single camera, multi-cameras provide larger field-of-view and more object cues, and the related applications are multi-view…

Estimating 3D scene flow from a sequence of monocular images has been gaining increased attention due to the simple, economical capture setup. Owing to the severe ill-posedness of the problem, the accuracy of current methods has been…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

Scene analysis is essential for enabling autonomous systems, such as mobile robots, to operate in real-world environments. However, obtaining a comprehensive understanding of the scene requires solving multiple tasks, such as panoptic…

We introduce SceneScript, a method that directly produces full scene models as a sequence of structured language commands using an autoregressive, token-based approach. Our proposed scene representation is inspired by recent successes in…

We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…

Although multi-scale concepts have recently proven useful for recurrent network architectures in the field of optical flow and stereo, they have not been considered for image-based scene flow so far. Hence, based on a single-scale recurrent…

General scene perception has progressed from object recognition toward open-vocabulary grounding, part localization, and affordance prediction. Yet these capabilities are often realized as isolated predictions that localize objects, parts,…

Text-based generation and editing of 3D scenes hold significant potential for streamlining content creation through intuitive user interactions. While recent advances leverage 3D Gaussian Splatting (3DGS) for high-fidelity and real-time…

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant…