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cs.CV2023
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…
cs.CV2023
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…
cs.RO2023
Anthropomorphic Grasping with Neural Object Shape Completion
Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma C. Bettelani +6
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is wel…