Fang-Ming Cheng

SpaRV: Sparse Radiance Voxels for Scalable Geometrically Consistent LiDAR-Visual Mapping and Rendering

Robotic simulation, navigation, and inspection need photorealistic and geometrically accurate maps. Radiance fields achieve photorealism, but building them from robot data raises three challenges. A robot's trajectory serves its task, not reconstruction, so images from few viewpoints leave the geometry under-constraine...