相关论文: DB-TSDF: Directional Bitmask-based Truncated Signe…

Accurate and compact representation of signed distance functions (SDFs) of implicit surfaces is crucial for efficient storage, computation, and downstream processing of 3D geometry. In this work, we propose a general learning method for…

Dense reconstruction and differentiable rendering are fundamental tightly connected operations in 3D vision and computer graphics. Recent neural implicit representations demonstrate compelling advantages in reconstruction fidelity and…

Unsigned Distance Fields (UDFs) are a natural implicit representation for open surfaces but, unlike Signed Distance Fields (SDFs), are challenging to triangulate into explicit meshes. This is especially true at high resolutions where neural…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

Learning signed distance functions (SDFs) from 3D point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning…

Learning signed distance functions (SDFs) from point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning SDFs…

We propose a novel 3D spatial representation for data fusion and scene reconstruction. Probabilistic Signed Distance Function (Probabilistic SDF, PSDF) is proposed to depict uncertainties in the 3D space. It is modeled by a joint…

Dense 3D reconstruction from a stream of depth images is the key to many mixed reality and robotic applications. Although methods based on Truncated Signed Distance Function (TSDF) Fusion have advanced the field over the years, the TSDF…

This paper presents a novel post-processing methodology for extracting high-quality geometries from density-based topology optimization results. Current post-processing approaches often struggle to simultaneously achieve smooth boundaries,…

Reconstructing 3D vehicles from noisy and sparse partial point clouds is of great significance to autonomous driving. Most existing 3D reconstruction methods cannot be directly applied to this problem because they are elaborately designed…

Recent advances in learning 3D shapes using neural implicit functions have achieved impressive results by breaking the previous barrier of resolution and diversity for varying topologies. However, most of such approaches are limited to…

Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression…

Neural Signed Distance Functions (SDFs) excel at reconstructing watertight manifolds but fail on thin structures and open boundaries due to strict inside--outside constraints. Conversely, Unsigned Distance Fields (UDFs) accommodate general…

To reconstruct a 3D scene from a set of calibrated views, traditional multi-view stereo techniques rely on two distinct stages: local depth maps computation and global depth maps fusion. Recent studies concentrate on deep neural…

Incrementally recovering 3D dense structures from monocular videos is of paramount importance since it enables various robotics and AR applications. Feature volumes have recently been shown to enable efficient and accurate incremental dense…

Semantic Scene Completion (SSC) aims to jointly infer semantics and occupancies of 3D scenes. Truncated Signed Distance Function (TSDF), a 3D encoding of depth, has been a common input for SSC. Furthermore, RGB-TSDF fusion, seems promising…

Volumetric shape representations have become ubiquitous in multi-view reconstruction tasks. They often build on regular voxel grids as discrete representations of 3D shape functions, such as SDF or radiance fields, either as the full shape…

A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric details. When exploring unknown environments, it needs to be updatable incrementally in an online fashion.…

Neural networks that map 3D coordinates to signed distance function (SDF) or occupancy values have enabled high-fidelity implicit representations of object shape. This paper develops a new shape model that allows synthesizing novel distance…

We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations. By storing at every voxel both the signed distance field as well as its gradient vector field, we enhance…