相关论文: Shape Your Ground: Refining Road Surfaces Beyond P…

We propose a fast and accurate surface reconstruction algorithm for unorganized point clouds using an implicit representation. Recent learning methods are either single-object representations with small neural models that allow for high…

Multi-view 3D reconstruction has achieved remarkable progress with the advent of feed-forward 3D reconstruction models. However, these models are typically trained and evaluated under ideal, degradation-free imaging conditions, whereas…

In this paper we present a practical approach for generating an occlusion-free textured 3D map of urban facades by the synergistic use of terrestrial images, 3D point clouds and area-based information. Particularly in dense urban…

Reconstructing large-scale dynamic scenes from visual observations is a fundamental challenge in computer vision, with critical implications for robotics and autonomous systems. While recent differentiable rendering methods such as Neural…

Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…

We proposed a generalized method, NeuralSSD, for reconstructing a 3D implicit surface from the widely-available point cloud data. NeuralSSD is a solver-based on the neural Galerkin method, aimed at reconstructing higher-quality and accurate…

Cities are structured by roads. Having up to date and detailed maps of these is thus an important challenge for urban planing, civil engineering and transportation. Those maps are traditionally created manually, which represents a massive…

We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

We present UrbanScene3D, a large-scale data platform for research of urban scene perception and reconstruction. UrbanScene3D contains over 128k high-resolution images covering 16 scenes including large-scale real urban regions and synthetic…

Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However,…

Robust GNSS positioning in urban environments is still plagued by multipath effects, particularly due to the complex signal propagation induced by ubiquitous surfaces with varied radio frequency reflectivities. Current 3D Mapping Aided…

Recent years have seen the development of mature solutions for reconstructing deformable surfaces from a single image, provided that they are relatively well-textured. By contrast, recovering the 3D shape of texture-less surfaces remains an…

Additive manufacturing builds physical objects by accumulating layers upon layers of solidified material. This process is typically done with horizontal planar layers. However, fused filament printers have the capability to extrude material…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

We present a method for learning to drive on smooth terrain while simultaneously avoiding collisions in challenging off-road and unstructured outdoor environments using only visual inputs. Our approach applies a hybrid model-based and…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…

Current software stacks for real-world applications of autonomous driving leverage map information to ensure reliable localization, path planning, and motion prediction. An important field of research is the generation of point cloud maps,…

In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…