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Neural Visibility Field for Uncertainty-Driven Active Map**
Abstract This paper presents Neural Visibility Field (NVF) a novel uncertainty quantification
method for Neural Radiance Fields (NeRF) applied to active map**. Our key insight is that …
method for Neural Radiance Fields (NeRF) applied to active map**. Our key insight is that …
Rgbgrasp: Image-based object gras** by capturing multiple views during robot arm movement with neural radiance fields
Robotic research encounters a significant hurdle when it comes to the intricate task of
gras** objects that come in various shapes, materials, and textures. Unlike many prior …
gras** objects that come in various shapes, materials, and textures. Unlike many prior …
Radiance Fields for Robotic Teleoperation
Radiance field methods such as Neural Radiance Fields (NeRFs) or 3D Gaussian Splatting
(3DGS), have revo-lutionized graphics and novel view synthesis. Their ability to synthesize …
(3DGS), have revo-lutionized graphics and novel view synthesis. Their ability to synthesize …
Safer-splat: A control barrier function for safe navigation with online gaussian splatting maps
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time,
scalable, and minimally invasive action filter, based on control barrier functions, for safe …
scalable, and minimally invasive action filter, based on control barrier functions, for safe …
Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments
We study pursuit-evasion games in highly occluded urban environments, eg tall buildings in
a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We show …
a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We show …
DISORF: A Distributed Online 3D Reconstruction Framework for Mobile Robots
We present a framework, DISORF, to enable online 3D reconstruction and visualization of
scenes captured by resource-constrained mobile robots and edge devices. To address the …
scenes captured by resource-constrained mobile robots and edge devices. To address the …
HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of
visual, geometric, and semantic information. However, efficient real-time map reconstruction …
visual, geometric, and semantic information. However, efficient real-time map reconstruction …
Timeliness-Fidelity Tradeoff in 3D Scene Representations
Real-time three-dimensional (3D) scene representations serve as one of the building blocks
that bolster various innovative applications, eg, digital manufacturing, Virtual/Augmented …
that bolster various innovative applications, eg, digital manufacturing, Virtual/Augmented …