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We present iSDF, a continual learning system for real-time signed distance field (SDF) reconstruction.
Learning-based proxy collision detection for robot motion planning applications
Nikhil Das and Michael Yip · 1902
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Fiesta: Fast incremental euclidean distance fields for online motion planning of aerial robots
Luxin Han, Fei Gao, Boyu Zhou, and Shaojie Shen · 1903
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Implicit Geometric Regularization for Learning Shapes
Amos Gropp, Lior Yariv, Niv Haim, Matan Atzmon, and Yaron Lipman · 2002
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Distance transforms of sampled functions
P. F. Felzenszwalb and D. P. Huttenlocher · 2004
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Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, and Juan Nieto · 2004
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Robot trajectory optimization using approximate inference
Marc Toussaint · 2009
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KinectFusion: Real-Time Dense Surface Mapping and Tracking
R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohli, J. Shotton, S. Hodges, and A. Fitzgibbon · 2011
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Chomp: Covariant hamiltonian optimization for motion planning
Matt Zucker, Nathan Ratliff, Anca D Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher M Dellin, J Andrew Bagnell, and Siddhartha S Srinivasa · 2013
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Motion planning with sequential convex optimization and convex collision checking
John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, and Pieter Abbeel · 2014
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Robust Reconstruction of Indoor Scenes
S. Choi, Q. Zhou, and V. Koltun · 2015
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DynamicFusion: Reconstruction and Tracking of Non-rigid Scenes in Real-Time
Richard A Newcombe, Dieter Fox, and Steven M Seitz · 2015
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Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs
Jing Dong, Mustafa Mukadam, Frank Dellaert, and Byron Boots · 2016
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Considering avoidance and consistency in motion planning for human-robot manipulation in a shared workspace
Rafi Hayne, Ruikun Luo, and Dmitry Berenson · 2016
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ScanNet: Richly-annotated 3D Reconstructions of Indoor Scene
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, and Matthias Nießner · 2017
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Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning
Helen Oleynikova, Zachary Taylor, Marius Fehr, Roland Siegwart, and Juan Nieto · 2017
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Continuous-time Gaussian process motion planning via probabilistic inference
Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, and Byron Boots · 2018
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Occupancy networks: Learning 3d reconstruction in function space
Lars Mescheder, Michael Oechsle, Michael Niemeyer, Sebastian Nowozin, and Andreas Geiger · 2019
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Deepsdf: Learning continuous signed distance functions for shape representation
Jeong Joon Park, Peter Florence, Julian Straub, Richard Newcombe, and Steven Lovegrove · 2019
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Sal: Sign agnostic learning of shapes from raw data
Matan Atzmon and Yaron Lipman · 2020
Cited alongside, same era.
Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields
Jonathan T. Barron, Ben Mildenhall, Dor Verbin, Pratul P. Srinivasan, and Peter Hedman · 2021
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Differentiable Spatial Planning using Transformers
Devendra Singh Chaplot, Deepak Pathak, and Jitendra Malik · 2021
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Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments
Mark Nicholas Finean, Wolfgang Merkt, and Ioannis Havoutis · 2021
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iMAP: Implicit Mapping and Positioning in Real-Time
Edgar Sucar, Shikun Liu, Joseph Ortiz, and Andrew J Davison · 2021
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Habitat 2.0: Training Home Assistants to Rearrange their Habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Sdfdiff: Differentiable rendering of signed distance fields for 3d shape optimization
Yue Jiang, Dantong Ji, Zhizhong Han, and Matthias Zwicker · 2020
Cited alongside, same era.
Dist: Rendering deep implicit signed distance function with differentiable sphere tracing
Shaohui Liu, Yinda Zhang, Songyou Peng, Boxin Shi, Marc Pollefeys, and Zhaopeng Cui · 2020
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2020
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Implicit Neural Representations with Periodic Activation Functions
Vincent Sitzmann, Julien N.P. Martel, Alexander W. Bergman, David B. Lindell, and Gordon Wetzstein · 2020
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Multiview neural surface reconstruction by disentangling geometry and appearance
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Vision-only robot navigation in a neural radiance world
Michal Adamkiewicz, Timothy Chen, Adam Caccavale, Rachel Gardner, Preston Culbertson, Jeannette Bohg, and Mac Schwager · 2021
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SALD: Sign agnostic learning with derivatives
Matan Atzmon and Yaron Lipman · 2021
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NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction
Peng Wang, Lingjie Liu, Yuan Liu, Christian Theobalt, Taku Komura, and Wenping Wang · 2021
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Continual Neural Mapping: Learning An Implicit Scene Representation from Sequential Observations
Zike Yan, Yuxin Tian, Xuesong Shi, Ping Guo, Peng Wang, and Hongbin Zha · 2021
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Learning signed distance field for multi-view surface reconstruction
Jingyang Zhang, Yao Yao, and Long Quan · 2021
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NICE-SLAM: Neural Implicit Scalable Encoding for SLAM
Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R Oswald, and Marc Pollefeys · 2021
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Learning models as functionals of signed-distance fields for manipulation planning
Danny Driess, Jung-Su Ha, Marc Toussaint, and Russ Tedrake · 2022
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Ditto: Building digital twins of articulated objects from interaction
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