相关论文: AREA3D: Active Reconstruction Agent with Unified F…

Recent trends in sparse-view 3D reconstruction have taken two different paths: feed-forward reconstruction that predicts pixel-aligned point maps without a complete geometry, and generative 3D reconstruction that generates complete geometry…

3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…

Despite recent progress in 3D-LLMs, they remain limited in accurately grounding language to visual and spatial elements in 3D environments. This limitation stems in part from training data that focuses on language reasoning rather than…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…

The integration of geometric reconstruction and generative modeling remains a critical challenge in developing AI systems capable of human-like spatial reasoning. This paper proposes Aether, a unified framework that enables geometry-aware…

Methods for 3D reconstruction from posed frames require prior knowledge about the scene metric range, usually to recover matching cues along the epipolar lines and narrow the search range. However, such prior might not be directly available…

Inspired by the recent success of methods that employ shape priors to achieve robust 3D reconstructions, we propose a novel recurrent neural network architecture that we call the 3D Recurrent Reconstruction Neural Network (3D-R2N2). The…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…

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…

In audio-visual navigation, an agent intelligently travels through a complex, unmapped 3D environment using both sights and sounds to find a sound source (e.g., a phone ringing in another room). Existing models learn to act at a fixed…

Recent work on image content manipulation based on vision-language pre-training models has been effectively extended to text-driven 3D scene editing. However, existing schemes for 3D scene editing still exhibit certain shortcomings,…

Hand-object 3D reconstruction has become increasingly important for applications in human-robot interaction and immersive AR/VR experiences. A common approach for object-agnostic hand-object reconstruction from RGB sequences involves a…

Dense 3D reconstruction from continuous image streams requires both accurate geometric aggregation and stable long-term memory management. Recent feed-forward reconstruction frameworks integrate observations through persistent memory…

In this work, we address the task of 3D reconstruction in dynamic scenes, where object motions frequently degrade the quality of previous 3D pointmap regression methods, such as DUSt3R, that are originally designed for static 3D scene…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

Reconstructing 3D scenes from a single image is a fundamentally ill-posed task due to the severely under-constrained nature of the problem. Consequently, when the scene is rendered from novel camera views, existing single image to 3D…

Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…