相关论文: Photoreal Scene Reconstruction from an Egocentric …
Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…
While 3D Gaussian Splatting (3D-GS) achieves photorealistic novel view synthesis, its performance degrades with motion blur. In scenarios with rapid motion or low-light conditions, existing RGB-based deblurring methods struggle to model…
Finding the camera pose is an important step in many egocentric video applications. It has been widely reported that, state of the art SLAM algorithms fail on egocentric videos. In this paper, we propose a robust method for camera pose…
Neural surface reconstruction relies heavily on accurate camera poses as input. Despite utilizing advanced pose estimators like COLMAP or ARKit, camera poses can still be noisy. Existing pose-NeRF joint optimization methods handle poses…
Scene reconstruction and novel-view synthesis for large, complex, multi-story, indoor scenes is a challenging and time-consuming task. Prior methods have utilized drones for data capture and radiance fields for scene reconstruction, both of…
Egocentric, multi-modal data as available on future augmented reality (AR) devices provides unique challenges and opportunities for machine perception. These future devices will need to be all-day wearable in a socially acceptable…
In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fields (NeRF)-based methods have recently risen to prominence…
Human behaviors are the major causes of scene dynamics and inherently contain rich cues regarding the dynamics. This paper formalizes a new task of proactive scene decomposition and reconstruction, an online approach that leverages…
LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
Existing NeRF-based methods for large scene reconstruction often have limitations in visual quality and rendering speed. While the recent 3D Gaussian Splatting works well on small-scale and object-centric scenes, scaling it up to large…
Gaussian Splatting (GS) has significantly elevated scene reconstruction efficiency and novel view synthesis (NVS) accuracy compared to Neural Radiance Fields (NeRF), particularly for dynamic scenes. However, current 4D NVS methods, whether…
Accurate geometric surface reconstruction, providing essential environmental information for navigation and manipulation tasks, is critical for enabling robotic self-exploration and interaction. Recently, 3D Gaussian Splatting (3DGS) has…
Modern cameras with large apertures often suffer from a shallow depth of field, resulting in blurry images of objects outside the focal plane. This limitation is particularly problematic for fixed-focus cameras, such as those used in smart…
Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…
High-fidelity reconstruction of surgical scene is a fundamentally crucial task to support many applications, such as intra-operative navigation and surgical education. However, most existing methods assume the ideal surgical scenarios -…
With the rapid increase of users of wearable cameras in recent years and of the amount of data they produce, there is a strong need for automatic retrieval and summarization techniques. This work addresses the problem of automatically…
With the ubiquity of rolling shutter (RS) cameras, it is becoming increasingly attractive to recover the latent global shutter (GS) video from two consecutive RS frames, which also places a higher demand on realism. Existing solutions,…
Prior works employing pixel-based Gaussian representation have demonstrated efficacy in feed-forward sparse-view reconstruction. However, such representation necessitates cross-view overlap for accurate depth estimation, and is challenged…