6 accepted papers
We present **DIPO**, a novel framework for the controllable generation of articulated 3D objects from a pair of images: one depicting the object in a resting state and the other in an articulated state. Compared to the single-image approach, our dual-image input imposes only a modest overhead for da…
This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for legged robotics undergoing aggressive and high-frequency motions. By integrating geometric consistency, legged odometry constraints, and dual-stream optical flow (GeoFlow), our
Neural implicit methods have achieved high-quality 3D object surfaces under slight specular highlights. However, high specular reflections (HSR) often appear in front of target objects when we capture them through glasses. The complex ambiguity in these scenes violates the multi-view consistency, th…
Neural Radiance Fields (NeRF) and its variants have reached state-of-the-art performance in many novel-view-synthesis-related tasks. However, current NeRF-based methods still suffer from the existence of reflective objects, often resulting in blurry or distorted rendering. Instead of calculating a s…
Recently RGB-D sensors have become very popular in the area of Simultaneous Localisation and Mapping (SLAM). The RGB-D SLAM approach relies heavily on the accuracy of the input depth map. However, refraction and reflection of transparent objects will result in false depth input of RGB-D cameras, whi…
In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as the intermediate representation to produce dense depth, and…