相关论文: Active3D: Active High-Fidelity 3D Reconstruction v…
Two-hand reconstruction from monocular images is hampered by complex poses and severe occlusions, which often cause interaction misalignment and two-hand penetration. We address this by decoupling the problem into 2D structural alignment…
We pose uncertainty quantification and exploration in online decision-making as a problem of training and generation from an autoregressive sequence model, an area experiencing rapid innovation. Our approach rests on viewing uncertainty as…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
Recent advances in localized implicit functions have enabled neural implicit representation to be scalable to large scenes. However, the regular subdivision of 3D space employed by these approaches fails to take into account the sparsity of…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…
Tracking and reconstructing 3D objects from cluttered scenes are the key components for computer vision, robotics and autonomous driving systems. While recent progress in implicit function has shown encouraging results on high-quality 3D…
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…
Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…
We introduce a novel method to obtain high-quality 3D reconstructions from consumer RGB-D sensors. Our core idea is to simultaneously optimize for geometry encoded in a signed distance field (SDF), textures from automatically-selected…
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…
We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…
High-quality 4D reconstruction of human performance with complex interactions to various objects is essential in real-world scenarios, which enables numerous immersive VR/AR applications. However, recent advances still fail to provide…
Despite remarkable progress in video generation, maintaining long-term scene consistency upon revisiting previously explored areas remains challenging. Existing solutions rely either on explicitly constructing 3D geometry, which suffers…
Recent advances in semantic segmentation of multi-modal remote sensing images have significantly improved the accuracy of tree cover mapping, supporting applications in urban planning, forest monitoring, and ecological assessment.…
Low-level 3D representations, such as point clouds, meshes, NeRFs and 3D Gaussians, are commonly used for modeling 3D objects and scenes. However, cognitive studies indicate that human perception operates at higher levels and interprets 3D…
Efficient exploration remains a challenging problem in reinforcement learning, especially for those tasks where rewards from environments are sparse. A commonly used approach for exploring such environments is to introduce some "intrinsic"…
Given a set of calibrated images of a scene, we present an approach that produces a simple, compact, and actionable 3D world representation by means of 3D primitives. While many approaches focus on recovering high-fidelity 3D scenes, we…
Estimating 3D hand meshes from RGB images robustly is a highly desirable task, made challenging due to the numerous degrees of freedom, and issues such as self similarity and occlusions. Previous methods generally either use parametric 3D…
Active mapping aims to determine how an agent should move to efficiently reconstruct unknown environments. Most existing approaches rely on greedy next-best-view prediction, resulting in inefficient exploration and incomplete…