4 papers
UniScale: Unified Scale-Aware 3D Reconstruction for Multi-View Understanding via Prior Injection for Robotic Perception
Mohammad Mahdavian, Gordon Tan, Binbin Xu +3
We present UniScale, a unified, scale-aware multi-view 3D reconstruction framework for robotic applications that flexibly integrates geometric priors through a modular, semanticall…
MOSE: Monocular Semantic Reconstruction Using NeRF-Lifted Noisy Priors
Zhenhua Du, Binbin Xu, Haoyu Zhang +2
Accurately reconstructing dense and semantically annotated 3D meshes from monocular images remains a challenging task due to the lack of geometry guidance and imperfect view-depend…
FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object
Hanzhi Chen, Binbin Xu, Stefan Leutenegger
We present FuncGrasp, a framework that can infer dense yet reliable grasp configurations for unseen objects using one annotated object and single-view RGB-D observation via categor…
NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields
Jens Naumann, Binbin Xu, Stefan Leutenegger +1
We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance sce…