NARF24: Estimating Articulated Object Structure for Implicit Rendering
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917775745744896 |
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| author | Lewis, Stanley Gao, Tom Jenkins, Odest Chadwicke |
| author_facet | Lewis, Stanley Gao, Tom Jenkins, Odest Chadwicke |
| contents | Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each articulation. We propose a method that learns a common Neural Radiance Field (NeRF) representation across a small number of collected scenes. This representation is combined with a parts-based image segmentation to produce an implicit space part localization, from which the connectivity and joint parameters of the articulated object can be estimated, thus enabling configuration-conditioned rendering. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2409_09829 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | NARF24: Estimating Articulated Object Structure for Implicit Rendering Lewis, Stanley Gao, Tom Jenkins, Odest Chadwicke Robotics Computer Vision and Pattern Recognition Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each articulation. We propose a method that learns a common Neural Radiance Field (NeRF) representation across a small number of collected scenes. This representation is combined with a parts-based image segmentation to produce an implicit space part localization, from which the connectivity and joint parameters of the articulated object can be estimated, thus enabling configuration-conditioned rendering. |
| title | NARF24: Estimating Articulated Object Structure for Implicit Rendering |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2409.09829 |