相关论文: Real-time Multi-Plane Segmentation Based on GPU Ac…

Supervised 3D part segmentation models are tailored for a fixed set of objects and parts, limiting their transferability to open-set, real-world scenarios. Recent works have explored vision-language models (VLMs) as a promising alternative,…

Online zero-shot 3D instance segmentation of a progressively reconstructed scene is both a critical and challenging task for embodied applications. With the success of visual foundation models (VFMs) in the image domain, leveraging 2D…

LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

Efficiently detecting target weld seams while ensuring sub-millimeter accuracy has always been an important challenge in autonomous welding, which has significant application in industrial practice. Previous works mostly focused on…

Current LiDAR point cloud-based 3D single object tracking (SOT) methods typically rely on point-based representation network. Despite demonstrated success, such networks suffer from some fundamental problems: 1) It contains pooling…

Multiple patterning lithography (MPL) is regarded as one of the most promising ways of overcoming the resolution limitations of conventional optical lithography due to the delay of next-generation lithography technology. As the feature size…

Capturing 4D spatiotemporal surroundings is crucial for the safe and reliable operation of robots in dynamic environments. However, most existing methods address only one side of the problem: they either provide coarse geometric tracking…

The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…

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.…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…

In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…

We propose a novel end-to-end pipeline for online long-range vectorized high-definition (HD) map construction using on-board camera sensors. The vectorized representation of HD maps, employing polylines and polygons to represent map…

We introduce the concept of unconstrained real-time 3D facial performance capture through explicit semantic segmentation in the RGB input. To ensure robustness, cutting edge supervised learning approaches rely on large training datasets of…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…

Multimodal large language models have demonstrated remarkable capabilities in 2D vision, motivating their extension to 3D scene understanding. Recent studies represent 3D scenes as 3D spatial videos composed of image sequences with depth…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

Segmentation is often an essential intermediate step in image analysis. A volume segmentation characterizes the underlying volume image in terms of geometric information--segments, faces between segments, curves in which several faces…