Related papers: Plan3D: Viewpoint and Trajectory Optimization for …
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…
High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
Existing approaches for multi-view multi-person 3D pose estimation explicitly establish cross-view correspondences to group 2D pose detections from multiple camera views and solve for the 3D pose estimation for each person. Establishing…
Achieving aesthetically pleasing photography necessitates attention to multiple factors, including composition and capture conditions, which pose challenges to novices. Prior research has explored the enhancement of photo aesthetics…
Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…
This paper presents AeroTraj, a system that enables fast, accurate, and automated reconstruction of 3D models of large buildings using a drone-mounted LiDAR. LiDAR point clouds can be used directly to assemble 3D models if their positions…
Single-view 3D object reconstruction is a challenging fundamental problem in computer vision, largely due to the morphological diversity of objects in the natural world. In particular, high curvature regions are not always captured…
We introduce a novel method to obtain high-quality 3D reconstructions from consumer RGB-D sensors. Our core idea is to simultaneously optimize for geometry encoded in a signed distance field (SDF), textures from automatically-selected…
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…
We present PanoPlane, an approach for high-fidelity sparse-view indoor novel view synthesis that reconstructs closed room geometry via panoramic scene completion. Unlike perspective-based methods that generate training views from limited…
Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled efficient free-viewpoint rendering and photorealistic scene reconstruction. While on-the-fly extensions of 3DGS have shown promise for real-time reconstruction from monocular RGB…
We introduce the simple idea of adaptive view planning to multi-view synthesis, aiming to improve both occlusion revelation and 3D consistency for single-view 3D reconstruction. Instead of producing an unordered set of views independently…
We propose a novel iterative method for optimally placing and orienting multiple cameras in a 3D scene. Sample applications include improving the accuracy of 3D reconstruction, maximizing the covered area for surveillance, or improving the…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions,…
Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…
We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…