Related papers: Multi-Volume High Resolution RGB-D Mapping with Dy…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Interactive volume visualization using a mixed reality (MR) system helps provide users with an intuitive spatial perception of volumetric data. Due to sophisticated requirements of user interaction and vision when using MR head-mounted…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…

For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously understand the higher level meaning…

Multi-view capture systems are complex systems to engineer. They require technical knowledge to install and intricate processes to setup related mainly to the sensors' spatial alignment (i.e. external calibration). However, with the ongoing…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Colorization involves the synthesis of colors on a target image while preserving structural content as well as the semantics of the target image. This is a well-explored problem in 2D with many state-of-the-art solutions. We propose a novel…

Neural volumetric representations have become a widely adopted model for radiance fields in 3D scenes. These representations are fully implicit or hybrid function approximators of the instantaneous volumetric radiance in a scene, which are…

Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…

We present RGB-D-Fusion, a multi-modal conditional denoising diffusion probabilistic model to generate high resolution depth maps from low-resolution monocular RGB images of humanoid subjects. RGB-D-Fusion first generates a low-resolution…

In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: $storey - region - volume$. The advantages of our method are reflected…

Latent diffusion models have proven to be state-of-the-art in the creation and manipulation of visual outputs. However, as far as we know, the generation of depth maps jointly with RGB is still limited. We introduce LDM3D-VR, a suite of…

Augmented Reality is a topic of foremost interest nowadays. Its main goal is to seamlessly blend virtual content in real-world scenes. Due to the lack of computational power in mobile devices, rendering a virtual object with high-quality,…

Modern-day display systems demand high-quality rendering. However, rendering at higher resolution requires a large number of data samples and is computationally expensive. Recent advances in deep learning-based image and video…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

We propose a learning-based approach for novel view synthesis for multi-camera 360$^{\circ}$ panorama capture rigs. Previous work constructs RGBD panoramas from such data, allowing for view synthesis with small amounts of translation, but…

Direct volume rendering using ray-casting is widely used in practice. By using GPUs and applying acceleration techniques as empty space skipping, high frame rates are possible on modern hardware. This enables performance-critical use-cases…

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…