相关论文: NeRF-Aug: Data Augmentation for Robotics with Neur…

Recent work on Neural Radiance Fields (NeRF) exploits multi-view 3D consistency, achieving impressive results in 3D scene modeling and high-fidelity novel-view synthesis. However, there are limitations. First, existing methods assume enough…

We introduce ViewNeRF, a Neural Radiance Field-based viewpoint estimation method that learns to predict category-level viewpoints directly from images during training. While NeRF is usually trained with ground-truth camera poses, multiple…

We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…

Neural Radiance Fields (NeRFs) have remodeled 3D scene representation since release. NeRFs can effectively reconstruct complex 3D scenes from 2D images, advancing different fields and applications such as scene understanding, 3D content…

Neural Radiance Fields (NeRFs) can be dramatically accelerated by spatial grid representations. However, they do not explicitly reason about scale and so introduce aliasing artifacts when reconstructing scenes captured at different camera…

Neural radiance fields (NeRF) bring a new wave for 3D interactive experiences. However, as an important part of the immersive experiences, the defocus effects have not been fully explored within NeRF. Some recent NeRF-based methods generate…

Neural Radiance Fields (NeRFs) are emerging as a ubiquitous scene representation that allows for novel view synthesis. Increasingly, NeRFs will be shareable with other people. Before sharing a NeRF, though, it might be desirable to remove…

Neural Radiance Fields (NeRF) achieves photo-realistic image rendering from novel views, and the Neural Scene Graphs (NSG) \cite{ost2021neural} extends it to dynamic scenes (video) with multiple objects. Nevertheless, computationally heavy…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

Existing approaches to system identification (estimating the physical parameters of an object) from videos assume known object geometries. This precludes their applicability in a vast majority of scenes where object geometries are complex…

Neural Radiance Fields (NeRF) have demonstrated superior novel view synthesis performance but are slow at rendering. To speed up the volume rendering process, many acceleration methods have been proposed at the cost of large memory…

Recently, significant progress has been made in the study of methods for 3D reconstruction from multiple images using implicit neural representations, exemplified by the neural radiance field (NeRF) method. Such methods, which are based on…

Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered…

Neural Radiance Field(NeRF) is an novel implicit method to achieve the 3D reconstruction and representation with a high resolution. After the first research of NeRF is proposed, NeRF has gained a robust developing power and is booming in…

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…

It is a long-standing problem to find effective representations for training reinforcement learning (RL) agents. This paper demonstrates that learning state representations with supervision from Neural Radiance Fields (NeRFs) can improve…

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…

Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly challenging for robot perception because it is hard to reconstruct them using commodity RGB-D cameras or multi-view stereo…

Neural Radiance Fields (NeRF) have advanced photorealistic novel view synthesis, but their reliance on photometric reconstruction introduces artifacts, commonly known as "floaters". These artifacts degrade novel view quality, especially in…

Dynamic neural radiance fields (dynamic NeRFs) have demonstrated impressive results in novel view synthesis on 3D dynamic scenes. However, they often require complete video sequences for training followed by novel view synthesis, which is…