相关论文: Active Neural Mapping at Scale

Neural Radiance Fields (NeRF), an AI-driven approach for 3D view reconstruction, has demonstrated impressive performance, sparking active research across fields. As a result, a range of advanced NeRF models has emerged, leading on-device…

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…

Existing neural radiance fields (NeRF) methods for large-scale scene modeling require days of training using multiple GPUs, hindering their applications in scenarios with limited computing resources. Despite fast optimization NeRF variants…

Many reinforcement learning tasks can benefit from explicit planning based on an internal model of the environment. Previously, such planning components have been incorporated through a neural network that partially aligns with the…

Neural radiance fields (NeRF) appeared recently as a powerful tool to generate realistic views of objects and confined areas. Still, they face serious challenges with open scenes, where the camera has unrestricted movement and content can…

Despite Neural Radiance Fields (NeRF) showing compelling results in photorealistic novel views synthesis of real-world scenes, most existing approaches require accurate prior camera poses. Although approaches for jointly recovering the…

The anticipated widespread use of unmanned aerial vehicles (UAVs) raises significant safety and security concerns, including trespassing in restricted areas, colliding with other UAVs, and disrupting high-traffic airspaces. To mitigate…

Autonomous mobile robots are an increasingly integral part of modern factory and warehouse operations. Obstacle detection, avoidance and path planning are critical safety-relevant tasks, which are often solved using expensive LiDAR sensors…

Neural Radiance Fields (NeRF) has been applied to various tasks related to representations of 3D scenes. Most studies based on NeRF have focused on a small object, while a few studies have tried to reconstruct large-scale scenes although…

This paper addresses the challenge of Neural Field (NeF) generalization, where models must efficiently adapt to new signals given only a few observations. To tackle this, we propose Geometric Neural Process Fields (G-NPF), a probabilistic…

Recent progress in large-scale scene rendering has yielded Neural Radiance Fields (NeRF)-based models with an impressive ability to synthesize scenes across small objects and indoor scenes. Nevertheless, extending this idea to large-scale…

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ…

In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…

This paper presents a transformative framework for artificial neural networks over graded vector spaces, tailored to model hierarchical and structured data in fields like algebraic geometry and physics. By exploiting the algebraic…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

View synthesis methods using implicit continuous shape representations learned from a set of images, such as the Neural Radiance Field (NeRF) method, have gained increasing attention due to their high quality imagery and scalability to high…

Voronoi diagrams are highly compact representations that are used in various Graphics applications. In this work, we show how to embed a differentiable version of it -- via a novel deep architecture -- into a generative deep network. By…

Large-scale Neural Radiance Fields (NeRF) reconstructions are typically hindered by the requirement for extensive image datasets and substantial computational resources. This paper introduces IOVS4NeRF, a framework that employs an…

Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…