Related papers: Plan3D: Viewpoint and Trajectory Optimization for …
Partial-view 3D recognition -- reconstructing 3D geometry and identifying object instances from a few sparse RGB images -- is an exceptionally challenging yet practically essential task, particularly in cluttered, occluded real-world…
Existing works on motion deblurring either ignore the effects of depth-dependent blur or work with the assumption of a multi-layered scene wherein each layer is modeled in the form of fronto-parallel plane. In this work, we consider the…
The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Multi-view 3D reconstruction applications are revolutionizing critical use cases that require rapid situational-awareness, such as emergency response, tactical scenarios, and public safety. In many cases, their near-real-time latency…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV…
Highly accurate 3D volumetric reconstruction is still an open research topic where the main difficulty is usually related to merging some rough estimations with high frequency details. One of the most promising methods is the fusion between…
In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
Endovascular surgical tool reconstruction represents an important factor in advancing endovascular tool navigation, which is an important step in endovascular surgery. However, the lack of publicly available datasets significantly restricts…
Multi-view implicit scene reconstruction methods have become increasingly popular due to their ability to represent complex scene details. Recent efforts have been devoted to improving the representation of input information and to reducing…
In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
We present a method for 3D reconstruction only using calibrated multi-view surface azimuth maps. Our method, multi-view azimuth stereo, is effective for textureless or specular surfaces, which are difficult for conventional multi-view…
PatchMatch based Multi-view Stereo (MVS) algorithms have achieved great success in large-scale scene reconstruction tasks. However, reconstruction of texture-less planes often fails as similarity measurement methods may become ineffective…
Recent advancements in radiance field rendering, exemplified by Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have significantly progressed 3D modeling and reconstruction. The use of multiple 360-degree omnidirectional…
Digital elevation modeling of planetary surfaces is essential for studying past and ongoing geological processes. Wide-angle imagery acquired during spacecraft descent promises to offer a low-cost option for high-resolution terrain…
Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…