相关论文: Learning autonomous driving from aerial imagery

Neural Radiance Fields (NeRF) have emerged as a powerful representation for the task of novel view synthesis due to their simplicity and state-of-the-art performance. Though NeRF can produce photorealistic renderings of unseen viewpoints…

Neural Radiance Fields (NeRF) achieve impressive view synthesis results for a variety of capture settings, including 360 capture of bounded scenes and forward-facing capture of bounded and unbounded scenes. NeRF fits multi-layer perceptrons…

Autonomous driving requires efficient reasoning about the Spatio-temporal nature of the semantics of the scene. Recent approaches have successfully amalgamated the traditional modular architecture of an autonomous driving stack comprising…

We seek to accelerate research in developing rich, multimodal scene models trained from egocentric data, based on differentiable volumetric ray-tracing inspired by Neural Radiance Fields (NeRFs). The construction of a NeRF-like model from…

We present a method for composing photorealistic scenes from captured images of objects. Our work builds upon neural radiance fields (NeRFs), which implicitly model the volumetric density and directionally-emitted radiance of a scene. While…

Compositional neural scene graph studies have shown that radiance fields can be an efficient tool in an editable autonomous driving simulator. However, previous studies learned within a sequence of autonomous driving datasets, resulting in…

We present a novel approach to perform 3D semantic segmentation solely from 2D supervision by leveraging Neural Radiance Fields (NeRFs). By extracting features along a surface point cloud, we achieve a compact representation of the scene…

Neural Radiance Fields (NeRF) have emerged as a potent paradigm for representing scenes and synthesizing photo-realistic images. A main limitation of conventional NeRFs is that they often fail to produce high-quality renderings under novel…

Novel view synthesis has recently been revolutionized by learning neural radiance fields directly from sparse observations. However, rendering images with this new paradigm is slow due to the fact that an accurate quadrature of the volume…

We present GeoNeRF, a generalizable photorealistic novel view synthesis method based on neural radiance fields. Our approach consists of two main stages: a geometry reasoner and a renderer. To render a novel view, the geometry reasoner…

High-fidelity sensor simulation of light-based sensors such as cameras and LiDARs is critical for safe and accurate autonomy testing. Neural radiance field (NeRF)-based methods that reconstruct sensor observations via ray-casting of…

We present NeRF-SR, a solution for high-resolution (HR) novel view synthesis with mostly low-resolution (LR) inputs. Our method is built upon Neural Radiance Fields (NeRF) that predicts per-point density and color with a multi-layer…

Implicit neural representations have shown powerful capacity in modeling real-world 3D scenes, offering superior performance in novel view synthesis. In this paper, we target a more challenging scenario, i.e., joint scene novel view…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

In the realm of digital situational awareness during disaster situations, accurate digital representations, like 3D models, play an indispensable role. To ensure the safety of rescue teams, robotic platforms are often deployed to generate…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

Current point-based approaches encounter limitations in scalability and rendering quality when using large 3D point cloud maps because using them directly for novel view synthesis (NVS) leads to degraded visualizations. We identify the…

Neural radiance fields (NeRF) methods have demonstrated impressive novel view synthesis performance. The core approach is to render individual rays by querying a neural network at points sampled along the ray to obtain the density and…

Neural Radiance Fields (NeRF) have garnered remarkable success in novel view synthesis. Nonetheless, the task of generating high-quality images for novel views persists as a critical challenge. While the existing efforts have exhibited…

Neural radiance fields (NeRFs) have emerged as an effective method for novel-view synthesis and 3D scene reconstruction. However, conventional training methods require access to all training views during scene optimization. This assumption…