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NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping
(2021)2021 International Conference on 3D Vision (3DV)We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions and can not incrementally perform updates given new data. In this work, we propose a fusion strategy and training pipeline to incrementally build and update neural implicit representations that enable ...Conference Paper -
3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability to model and predict such changes is thus crucial for robot autonomy. In this work, we formalize the task of semantic scene variability estimation and identify three main varieties of semantic scene ...Conference Paper -
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
(2022)2022 International Conference on Robotics and Automation (ICRA)For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We thus propose panoptic multi-TSDFs as a novel representation for multi-resolution volumetric mapping in changing environments. By leveraging high-level information for 3D reconstruction, our proposed ...Conference Paper