Related papers: Plan3D: Viewpoint and Trajectory Optimization for …
We present a novel method to reconstruct the 3D layout of a room (walls, floors, ceilings) from a single perspective view in challenging conditions, by contrast with previous single-view methods restricted to cuboid-shaped layouts. This…
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an…
Active stereo vision is important in reconstructing objects without obvious textures. However, it is still very challenging to extract and match the projected patterns from two camera views automatically and robustly. In this paper, we…
In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…
3D reconstruction is a technique used in computer vision which has a wide range of applications in areas like object recognition, city modelling, virtual reality, physical simulations, video games and special effects. Previously, to perform…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
Image datasets have been steadily growing in size, harming the feasibility and efficiency of large-scale 3D reconstruction methods. In this paper, a novel approach for scaling Multi-View Stereo (MVS) algorithms up to arbitrarily large…
Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…
The ultimate goal of many image-based modeling systems is to render photo-realistic novel views of a scene without visible artifacts. Existing evaluation metrics and benchmarks focus mainly on the geometric accuracy of the reconstructed…
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…
Light detection and ranging (Lidar) single-photon devices capture range and intensity information from a 3D scene. This modality enables long range 3D reconstruction with high range precision and low laser power. A multispectral…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
We present Spann3R, a novel approach for dense 3D reconstruction from ordered or unordered image collections. Built on the DUSt3R paradigm, Spann3R uses a transformer-based architecture to directly regress pointmaps from images without any…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…
This paper presents a generalizable 3D plane detection and reconstruction framework named MonoPlane. Unlike previous robust estimator-based works (which require multiple images or RGB-D input) and learning-based works (which suffer from…
The ability to efficiently plan and execute search missions in challenging and complex environments during natural and man-made disasters is imperative. In many emergency situations, precise navigation between obstacles and time-efficient…
The automatic reconstruction of 3D computer-aided design (CAD) models from CAD sketches has recently gained significant attention in the computer vision community. Most existing methods, however, rely on vector CAD sketches and 3D ground…