相关论文: Automatic occlusion removal from 3D maps for marit…

Dense 3D reconstruction and ego-motion estimation are key challenges in autonomous driving and robotics. Compared to the complex, multi-modal systems deployed today, multi-camera systems provide a simpler, low-cost alternative. However,…

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…

Learning-based 3D reconstruction has emerged as a transformative technique in autonomous driving, enabling precise modeling of environments through advanced neural representations. It has inspired pioneering solutions for vital tasks in…

The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable and real-time capable. To this end, we present a novel…

Monocular 3D object detection (Mono3D) is a fundamental computer vision task that estimates an object's class, 3D position, dimensions, and orientation from a single image. Its applications, including autonomous driving, augmented reality,…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…

We tackle the problem of automatically reconstructing a complete 3D model of a scene from a single RGB image. This challenging task requires inferring the shape of both visible and occluded surfaces. Our approach utilizes viewer-centered,…

3D geometry is a very informative cue when interacting with and navigating an environment. This writing proposes a new approach to 3D reconstruction and scene understanding, which implicitly learns 3D geometry from depth maps pairing a deep…

With the explosive growth of web-based cameras and mobile devices, billions of photographs are uploaded to the internet. We can trivially collect a huge number of photo streams for various goals, such as image clustering, 3D scene…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

Accurately estimating the pose of an object is a crucial task in computer vision and robotics. There are two main deep learning approaches for this: geometric representation regression and iterative refinement. However, these methods have…

Accurate and complete terrain maps enhance the awareness of autonomous robots and enable safe and optimal path planning. Rocks and topography often create occlusions and lead to missing elevation information in the Digital Elevation Map…

Object permanence in humans is a fundamental cue that helps in understanding persistence of objects, even when they are fully occluded in the scene. Present day methods in object segmentation do not account for this amodal nature of the…

Depth information plays a crucial role in autonomous systems for environmental perception and robot state estimation. With the rapid development of deep neural network technology, depth estimation has been extensively studied and shown…

Accurate lane detection is essential for effective path planning and lane following in autonomous driving, especially in scenarios with significant occlusion from vehicles and pedestrians. Existing models often struggle under such…

Understanding and reconstructing occluded objects is a challenging problem, especially in open-world scenarios where categories and contexts are diverse and unpredictable. Traditional methods, however, are typically restricted to closed…

We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…