相关论文: Towards Learning a Generalizable 3D Scene Represen…

Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in…

The ability of neural radiance fields or NeRFs to conduct accurate 3D modelling has motivated application of the technique to scene representation. Previous approaches have mainly followed a centralised learning paradigm, which assumes that…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

Robust 3D representation learning forms the perceptual foundation of spatial intelligence, enabling downstream tasks in scene understanding and embodied AI. However, learning such representations directly from unposed multi-view images…

An excellent representation is crucial for reinforcement learning (RL) performance, especially in vision-based reinforcement learning tasks. The quality of the environment representation directly influences the achievement of the learning…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

We present a novel framework for dynamic radiance field prediction given monocular video streams. Unlike previous methods that primarily focus on predicting future frames, our method goes a step further by generating explicit 3D…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Capturing and labeling real-world 3D data is laborious and time-consuming, which makes it costly to train strong 3D models. To address this issue, recent works present a simple method by generating randomized 3D scenes without simulation…

Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…

Tremendous progress in deep generative models has led to photorealistic image synthesis. While achieving compelling results, most approaches operate in the two-dimensional image domain, ignoring the three-dimensional nature of our world.…

This paper addresses the challenge of Neural Field (NeF) generalization, where models must efficiently adapt to new signals given only a few observations. To tackle this, we propose Geometric Neural Process Fields (G-NPF), a probabilistic…

Radiance field methods such as Neural Radiance Fields (NeRFs) or 3D Gaussian Splatting (3DGS), have revolutionized graphics and novel view synthesis. Their ability to synthesize new viewpoints with photo-realistic quality, as well as…

Our understanding of the world depends highly on our capacity to produce intuitive and simplified representations which can be easily used to solve problems. We reproduce this simplification process using a neural network to build a low…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene.…

This paper addresses the challenge of reconstructing an animatable human model from a multi-view video. Some recent works have proposed to decompose a non-rigidly deforming scene into a canonical neural radiance field and a set of…

Generalizable neural radiance field (NeRF) enables neural-based digital human rendering without per-scene retraining. When combined with human prior knowledge, high-quality human rendering can be achieved even with sparse input views.…

Traditional Radiance Field (RF) representations capture details of a specific scene and must be trained afresh on each scene. Semantic feature fields have been added to RFs to facilitate several segmentation tasks. Generalised RF…