4 papers · 1 filter
SPEAR: A Simulator for Photorealistic Embodied AI Research
Mike Roberts, Renhan Wang, Rushikesh Zawar +10
Interactive simulators have become powerful tools for training embodied agents and generating synthetic visual data, but existing photorealistic simulators suffer from limited gene…
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger +1
Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding…
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…
Dynamic LiDAR Re-simulation using Compositional Neural Fields
Hanfeng Wu, Xingxing Zuo, Stefan Leutenegger +3
We introduce DyNFL, a novel neural field-based approach for high-fidelity re-simulation of LiDAR scans in dynamic driving scenes. DyNFL processes LiDAR measurements from dynamic en…