Related papers: Plan3D: Viewpoint and Trajectory Optimization for …
In this work, we propose a novel approach to prioritize the depth map computation of multi-view stereo (MVS) to obtain compact 3D point clouds of high quality and completeness at low computational cost. Our prioritization approach operates…
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…
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…
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…
In this paper, we develop a new method to automatically convert 2D line drawings from three orthographic views into 3D CAD models. Existing methods for this problem reconstruct 3D models by back-projecting the 2D observations into 3D space…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…
3D scene reconstruction is essential for applications in virtual reality, robotics, and autonomous driving, enabling machines to understand and interact with complex environments. Traditional 3D Gaussian Splatting techniques rely on images…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Dense 3D convolutions provide high accuracy for perception but are too computationally expensive for real-time robotic systems. Existing tri-plane methods rely on 2D image features with interpolation, point-wise queries, and implicit MLPs,…
Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
The completeness of 3D models is still a challenging problem in multi-view stereo (MVS) due to the unreliable photometric consistency in low-textured areas. Since low-textured areas usually exhibit strong planarity, planar models are…
Generalizable 3D Gaussian Splatting reconstruction showcases advanced Image-to-3D content creation but requires substantial computational resources and large datasets, posing challenges to training models from scratch. Current methods…
Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as…
Recent advances in image acquisition and scene reconstruction have enabled the generation of high-quality structural urban scene geometry, given sufficient site information. However, current capture techniques often overlook the crucial…
Inspired by the recent advance of image-based object reconstruction using deep learning, we present an active reconstruction model using a guided view planner. We aim to reconstruct a 3D model using images observed from a planned sequence…
We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…
We introduce Intrinsic Image Fusion, a method that reconstructs high-quality physically based materials from multi-view images. Material reconstruction is highly underconstrained and typically relies on analysis-by-synthesis, which requires…
Small Unmanned Aerial Vehicles (UAVs) exhibit immense potential for navigating indoor and hard-to-reach areas, yet their significant constraints in payload and autonomy have largely prevented their use for complex tasks like high-quality…