Related papers: Plan3D: Viewpoint and Trajectory Optimization for …
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…
Stereo vision techniques have been widely used in civil engineering to acquire 3-D road data. The two important factors of stereo vision are accuracy and speed. However, it is very challenging to achieve both of them simultaneously and…
We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…
Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
Room layout estimation from multiple-perspective images is poorly investigated due to the complexities that emerge from multi-view geometry, which requires muti-step solutions such as camera intrinsic and extrinsic estimation, image…
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…
Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
This paper presents a novel method for the reconstruction of 3D edges in multi-view stereo scenarios. Previous research in the field typically relied on video sequences and limited the reconstruction process to either straight…
We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…
3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…
In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…
We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…
Reconstructing 3D objects from a single image is an intriguing but challenging problem. One promising solution is to utilize multi-view (MV) 3D reconstruction to fuse generated MV images into consistent 3D objects. However, the generated…
Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
3D plane reconstruction from a single image is a crucial yet challenging topic in 3D computer vision. Previous state-of-the-art (SOTA) methods have focused on training their system on a single dataset from either indoor or outdoor domain,…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…