Related papers: 4D Crop Monitoring: Spatio-Temporal Reconstruction…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
Autonomous navigation is a pre-requisite for field robots to carry out precision agriculture tasks. Typically, a robot has to navigate through a whole crop field several times during a season for monitoring the plants, for applying…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…
We describe a challenging robotics deployment in a complex ecosystem to monitor a rich plant community. The study site is dominated by dynamic grassland vegetation and is thus visually ambiguous and liable to drastic appearance change over…
3D reconstruction and view synthesis are foundational problems in computer vision, graphics, and immersive technologies such as augmented reality (AR), virtual reality (VR), and digital twins. Traditional methods rely on computationally…
Existing methods for the 4D reconstruction of general, non-rigidly deforming objects focus on novel-view synthesis and neglect correspondences. However, time consistency enables advanced downstream tasks like 3D editing, motion analysis, or…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
This paper targets high-fidelity and real-time view synthesis of dynamic 3D scenes at 4K resolution. Recently, some methods on dynamic view synthesis have shown impressive rendering quality. However, their speed is still limited when…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…
Four-dimensional Scanning Transmission Electron Microscopy (4D-STEM) is a powerful technique for high-resolution and high-precision materials characterization at multiple length scales, including the characterization of beam-sensitive…
Recovering a dynamic 3D scene from a long monocular video is crucial for dense geometry, camera motion, and temporal correspondence to remain consistent in a shared coordinate system. Existing methods face two key challenges: (1)…
Large-scale scene data is essential for training and testing in robot learning. Neural reconstruction methods have promised the capability of reconstructing large physically-grounded outdoor scenes from captured sensor data. However, these…
In this work, we address the task of 3D reconstruction in dynamic scenes, where object motions frequently degrade the quality of previous 3D pointmap regression methods, such as DUSt3R, that are originally designed for static 3D scene…
Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…
This paper addresses the problem of decomposed 4D scene reconstruction from multi-view videos. Recent methods achieve this by lifting video segmentation results to a 4D representation through differentiable rendering techniques. Therefore,…
Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A critical challenge in fully understanding the geometry and…
Dynamic Gaussian Splatting approaches have achieved remarkable performance for 4D scene reconstruction. However, these approaches rely on dense-frame video sequences for photorealistic reconstruction. In real-world scenarios, due to…