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We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
We present a novel 3D mapping pipeline for large-scale indoor environments. To address the significant challenges in large-scale indoor scenes, such as prevalent occlusions and textureless regions, we propose IM360, a novel approach that…
Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…
In this paper we introduce a vision-aided navigation (VAN) pipeline designed to support ground navigation of autonomous aircraft. The proposed algorithm combines the computational efficiency of indirect methods with the robustness of direct…
Three-dimensional (3D) reconstruction of ships is an important part of maritime monitoring, allowing improved visualization, inspection, and decision-making in real-world monitoring environments. However, most state-ofthe-art 3D…
Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical properties of the SfM, known as the incremental active depth…
Robust GNSS positioning in urban environments is still plagued by multipath effects, particularly due to the complex signal propagation induced by ubiquitous surfaces with varied radio frequency reflectivities. Current 3D Mapping Aided…
While initial approaches to Structure-from-Motion (SfM) revolved around both global and incremental methods, most recent applications rely on incremental systems to estimate camera poses due to their superior robustness. Though there has…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
3D recovery from multi-stereo and stereo images, as an important application of the image-based perspective geometry, serves many applications in computer vision, remote sensing and Geomatics. In this chapter, the authors utilize the…
Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…
We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…
In this paper, we present a robust and efficient Structure from Motion pipeline for accurate 3D reconstruction under challenging environments by leveraging the camera pose information from a visual-inertial odometry. Specifically, we…
Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and extended reality (XR). Nevertheless, current…
To reconstruct a 3D scene from a set of calibrated views, traditional multi-view stereo techniques rely on two distinct stages: local depth maps computation and global depth maps fusion. Recent studies concentrate on deep neural…
Structure from Motion or the sparse 3D reconstruction out of individual photos is a long studied topic in computer vision. Yet none of the existing reconstruction pipelines fully addresses a progressive scenario where images are only…
The availability of high-speed 3D video sensors has greatly facilitated 3D shape acquisition of dynamic and deformable objects, but high frame rate 3D reconstruction is always degraded by spatial noise and temporal fluctuations. This paper…
Reconstructing accurate 3D surfaces for street-view scenarios is crucial for applications such as digital entertainment and autonomous driving simulation. However, existing street-view datasets, including KITTI, Waymo, and nuScenes, only…
The usage of Unmanned Aerial Vehicles (UAVs) in the context of structural health inspection is recently gaining tremendous popularity. Camera mounted UAVs enable the fast acquisition of a large number of images often used for mapping, 3D…