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In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…
Surface reconstruction and novel view rendering from sparse-view images are challenging. Signed Distance Function (SDF)-based methods struggle with fine details, while 3D Gaussian Splatting (3DGS)-based approaches lack global geometry…
Explicit 3D representations have already become an essential medium for 3D simulation and understanding. However, the most commonly used point cloud and 3D Gaussian Splatting (3DGS) each suffer from non-photorealistic rendering and…
Near-field multiple-input multiple-output (MIMO) radar imaging systems have recently gained significant attention. In this paper, we develop novel non-iterative deep learning-based reconstruction methods for real-time near-field MIMO…
While current multi-frame restoration methods combine information from multiple input images using 2D alignment techniques, recent advances in novel view synthesis are paving the way for a new paradigm relying on volumetric scene…
3D scene reconstruction is essential for applications in virtual reality, robotics, and autonomous driving, enabling machines to understand and interact with complex environments. Traditional 3D Gaussian Splatting techniques rely on images…
While weakly supervised multi-view face reconstruction (MVR) is garnering increased attention, one critical issue still remains open: how to effectively interact and fuse multiple image information to reconstruct high-precision 3D models.…
3D reconstruction has lately attracted increasing attention due to its wide application in many areas, such as autonomous driving, robotics and virtual reality. As a dominant technique in artificial intelligence, deep learning has been…
Existing approaches for Structure from Motion (SfM) produce impressive 3-D reconstruction results especially when using imagery captured with large parallax. However, to create engaging video-content in movies and TV shows, the amount by…
Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…
In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…
Multi-view 3D reconstruction, namely, structure-from-motion followed by multi-view stereo, is a fundamental component of 3D computer vision. In general, multi-view 3D reconstruction suffers from an unknown scale ambiguity unless a reference…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Modern mobile burst photography pipelines capture and merge a short sequence of frames to recover an enhanced image, but often disregard the 3D nature of the scene they capture, treating pixel motion between images as a 2D aggregation…
Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…
Recovery of articulated 3D structure from 2D observations is a challenging computer vision problem with many applications. Current learning-based approaches achieve state-of-the-art accuracy on public benchmarks but are restricted to…
In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing partial point clouds derived from depth image often suffer…
Automatic 3D content creation seeks to replace labor-intensive modeling and scanning pipelines with systems that can synthesize or recover 3D assets directly from text or images. Its applications span video games, virtual reality, robotics,…
Neural rendering has garnered substantial attention owing to its capacity for creating realistic 3D scenes. However, its applicability to extensive scenes remains challenging, with limitations in effectiveness. In this work, we propose the…
We propose a novel and flexible roof modeling approach that can be used for constructing planar 3D polygon roof meshes. Our method uses a graph structure to encode roof topology and enforces the roof validity by optimizing a simple but…