相关论文: OASIS: Real-Time Opti-Acoustic Sensing for Interve…

We propose DeepASA, a multi-purpose model for auditory scene analysis that performs multi-input multi-output (MIMO) source separation, dereverberation, sound event detection (SED), audio classification, and direction-of-arrival estimation…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

Training large language models (LLMs) is constrained by memory requirements, with activations accounting for a substantial fraction of the total footprint. Existing approaches reduce memory using low-rank weight parameterizations or…

The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable and real-time capable. To this end, we present a novel…

While 3D Gaussian representations (3DGS) have proven effective for modeling the geometry and appearance of objects, their potential for capturing other physical attributes-such as sound-remains largely unexplored. In this paper, we present…

3D Gaussian Splatting (3DGS) provides an explicit and efficient scene representation, but its primitives lack inherent object-level identity, hindering downstream tasks such as open-vocabulary scene understanding. Existing methods typically…

Iterative image reconstruction algorithms for optoacoustic tomography (OAT), also known as photoacoustic tomography, have the ability to improve image quality over analytic algorithms due to their ability to incorporate accurate models of…

This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…

Recent advances in leveraging large-scale Internet photo collections for 3D reconstruction have enabled immersive virtual exploration of landmarks and historic sites worldwide. However, little attention has been given to the immersive…

This paper introduces 3DFIRES, a novel system for scene-level 3D reconstruction from posed images. Designed to work with as few as one view, 3DFIRES reconstructs the complete geometry of unseen scenes, including hidden surfaces. With…

Current 3D instance segmentation models generally use multi-stage methods to extract instance objects, including clustering, feature extraction, and post-processing processes. However, these multi-stage approaches rely on hyperparameter…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

We introduce 3D-SIS, a novel neural network architecture for 3D semantic instance segmentation in commodity RGB-D scans. The core idea of our method is to jointly learn from both geometric and color signal, thus enabling accurate instance…

The research on neural radiance fields for new view synthesis has experienced explosive growth with the development of new models and extensions. The NERF algorithm, suitable for underwater scenes or scattering media, is also evolving.…

Coded aperture snapshot spectral imaging (CASSI) retrieves a 3D hyperspectral image (HSI) from a single 2D compressed measurement, which is a highly challenging reconstruction task. Recent deep unfolding networks (DUNs), empowered by…

3D scene understanding is crucial for facilitating seamless interaction between digital devices and the physical world. Real-time capturing and processing of the 3D scene are essential for achieving this seamless integration. While existing…

Optical coherence tomography (OCT) is a non-invasive imaging technique widely used for ophthalmology. It can be extended to OCT angiography (OCT-A), which reveals the retinal vasculature with improved contrast. Recent deep learning…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…