相关论文: TRASE: Tracking-free 4D Segmentation and Editing

Reconstructing and decomposing dynamic urban scenes is crucial for autonomous driving, urban planning, and scene editing. However, existing methods fail to perform instance-aware decomposition without manual annotations, which is crucial…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

We introduce a novel, training-free system for reconstructing, understanding, and rendering 3D indoor scenes from a sparse set of unposed RGB images. Unlike traditional radiance field approaches that require dense views and per-scene…

At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. Most prior efforts, however, often assume that the target object's CAD model, at least at a category-level, is available for offline training or during…

Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…

Towards holistic understanding of 3D scenes, a general 3D segmentation method is needed that can segment diverse objects without restrictions on object quantity or categories, while also reflecting the inherent hierarchical structure. To…

3D object reconstruction and multilevel segmentation are fundamental to computer vision research. Existing algorithms usually perform 3D scene reconstruction and target objects segmentation independently, and the performance is not fully…

Simultaneous localization and mapping (SLAM) technology has recently achieved photorealistic mapping capabilities thanks to the real-time, high-fidelity rendering enabled by 3D Gaussian Splatting (3DGS). However, due to the static…

The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

Feedforward reconstruction is crucial for autonomous driving applications, where rapid scene reconstruction enables efficient utilization of large-scale driving datasets in closed-loop simulation and other downstream tasks, eliminating the…

Modeling, understanding, and reconstructing the real world are crucial in XR/VR. Recently, 3D Gaussian Splatting (3D-GS) methods have shown remarkable success in modeling and understanding 3D scenes. Similarly, various 4D representations…

We present a method that simultaneously addresses the tasks of dynamic scene novel-view synthesis and six degree-of-freedom (6-DOF) tracking of all dense scene elements. We follow an analysis-by-synthesis framework, inspired by recent work…

A new generation of experiments is being developed, where the challenge of separating rare signal processes from background at high intensities requires a change of trigger paradigm. At the future PANDA experiment at FAIR, hardware triggers…

We are living in a three-dimensional space while moving forward through a fourth dimension: time. To allow artificial intelligence to develop a comprehensive understanding of such a 4D environment, we introduce 4D Panoptic Scene Graph…

This paper addresses the problem of decomposed 4D scene reconstruction from multi-view videos. Recent methods achieve this by lifting video segmentation results to a 4D representation through differentiable rendering techniques. Therefore,…