相关论文: Dynamic Scene Understanding through Object-Centric…

A general concept of 3D volumetric visualization systems is described based on 3D discrete voxel scenes (worlds) representation. Definitions of 3D discrete voxel scene (world) basic elements and main steps of the image synthesis algorithm…

Images depicting complex, dynamic scenes are challenging to parse automatically, requiring both high-level comprehension of the overall situation and fine-grained identification of participating entities and their interactions. Current…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

Self-supervised learning (SSL) has emerged as a powerful technique for learning visual representations. While recent SSL approaches achieve strong results in global image understanding, they are limited in capturing the structured…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Data-driven learning has advanced autonomous driving, yet task-specific models struggle with out-of-distribution scenarios due to their narrow optimization objectives and reliance on costly annotated data. We present DriveX, a…

Semantic scene completion, also known as semantic occupancy prediction, can provide dense geometric and semantic information for autonomous vehicles, which attracts the increasing attention of both academia and industry. Unfortunately,…

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…

Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Neural volumetric representations have become a widely adopted model for radiance fields in 3D scenes. These representations are fully implicit or hybrid function approximators of the instantaneous volumetric radiance in a scene, which are…

Structure from motion (SfM) enables us to reconstruct a scene via casual capture from cameras at different viewpoints, and novel view synthesis (NVS) allows us to render a captured scene from a new viewpoint. Both are hard with casual…

We propose an action-conditioned dynamics model that predicts scene changes caused by object and agent interactions in a viewpoint-invariant 3D neural scene representation space, inferred from RGB-D videos. In this 3D feature space, objects…

We present a differentiable volume rendering solution that provides differentiability of all continuous parameters of the volume rendering process. This differentiable renderer is used to steer the parameters towards a setting with an…

Generating novel views of a natural scene, e.g., every-day scenes both indoors and outdoors, from a single view is an under-explored problem, even though it is an organic extension to the object-centric novel view synthesis. Existing…

Synthesizing novel views from monocular videos of dynamic scenes remains a challenging problem. Scene-specific methods that optimize 4D representations with explicit motion priors often break down in highly dynamic regions where multi-view…

Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…

Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…

We consider the problem of scaling deep generative shape models to high-resolution. Drawing motivation from the canonical view representation of objects, we introduce a novel method for the fast up-sampling of 3D objects in voxel space…

Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…