相关论文: Hestia: Voxel-Face-Aware Hierarchical Next-Best-Vi…

Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…

3D reconstruction is a core task in many applications such as robot navigation or sites inspections. Finding the best poses to capture part of the scene is one of the most challenging topic that goes under the name of Next Best View.…

Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…

We present a classification based approach for the next best view selection and show how we can plausibly obtain a supervisory signal for this task. The proposed approach is end-to-end trainable and aims to get the best possible 3D…

In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…

Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…

Reconstructing 3D scenes from multiple viewpoints is a fundamental task in stereo vision. Recently, advances in generalizable 3D Gaussian Splatting have enabled high-quality novel view synthesis for unseen scenes from sparse input views by…

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather…

Vision-Language-Action (VLA) models offer promising capabilities for autonomous driving through multimodal understanding. However, their utilization in safety-critical scenarios is constrained by inherent limitations, including imprecise…

In active reconstruction, an embodied agent must decide where to look next to efficiently acquire views that support high-quality novel-view rendering. Recent work on active view planning for neural rendering largely derives next-best-view…

With the attention gained by camera-only 3D object detection in autonomous driving, methods based on Bird-Eye-View (BEV) representation especially derived from the forward view transformation paradigm, i.e., lift-splat-shoot (LSS), have…

In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…

Recently, Convolutional Neural Networks have shown promising results for 3D geometry prediction. They can make predictions from very little input data such as a single color image. A major limitation of such approaches is that they only…

With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…

Recent advances in full-head reconstruction have been obtained by optimizing a neural field through differentiable surface or volume rendering to represent a single scene. While these techniques achieve an unprecedented accuracy, they take…

Fine-tuning pre-trained Vision Transformers (ViTs) has showcased significant promise in enhancing visual recognition tasks. Yet, the demand for individualized and comprehensive fine-tuning processes for each task entails substantial…

Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects.…

Efficient visual perception using mobile systems is crucial, particularly in unknown environments such as search and rescue operations, where swift and comprehensive perception of objects of interest is essential. In such real-world…

Recovering the 3D geometry of a scene from a sparse set of uncalibrated images is a long-standing problem in computer vision. While recent learning-based approaches such as DUSt3R and MASt3R have demonstrated impressive results by directly…

Modeling and re-rendering dynamic 3D scenes is a challenging task in 3D vision. Prior approaches build on NeRF and rely on implicit representations. This is slow since it requires many MLP evaluations, constraining real-world applications.…