相关论文: $L^3$:Scene-agnostic Visual Localization in the Wi…

Autonomous agents often require accurate methods for detecting and localizing changes in their environment, particularly when observations are captured from unconstrained and inconsistent viewpoints. We propose a novel label-free,…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

Generating realistic, room-level indoor scenes with semantically plausible and detailed appearances from in-the-wild images is crucial for various applications in VR, AR, and robotics. The success of NeRF-based generative methods indicates…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…

Standard 3D reconstruction pipelines assume stationary world, therefore suffer from `ghost artifacts' whenever dynamic objects are present in the scene. Recent approaches has started tackling this issue, however, they typically either only…

Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

Designing 3D indoor layouts is a crucial task with significant applications in virtual reality, interior design, and automated space planning. Existing methods for 3D layout design either rely on diffusion models, which utilize spatial…

The ability to map descriptions of scenes to 3D geometric representations has many applications in areas such as art, education, and robotics. However, prior work on the text to 3D scene generation task has used manually specified object…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Scene coordinates regression (SCR), i.e., predicting 3D coordinates for every pixel of a given image, has recently shown promising potential. However, existing methods remain limited to small scenes memorized during training, and thus…

This work proposes a new method for place recognition based on the scene architecture. From depth video, we compute the 3D model and we derive and describe geometrically the 2D map from which the scene descriptor is deduced to constitute…

Large transformer models are proving to be a powerful tool for 3D vision and novel view synthesis. However, the standard Transformer's well-known quadratic complexity makes it difficult to scale these methods to large scenes. To address…

Recent advances in vision foundation models have revolutionized geometry reconstruction and semantic understanding. Yet, most of the existing approaches treat these capabilities in isolation, leading to redundant pipelines and compounded…

3D scene understanding from single images is a pivotal problem in computer vision with numerous downstream applications in graphics, augmented reality, and robotics. While diffusion-based modeling approaches have shown promise, they often…