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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…
Learning surfaces from neural radiance field (NeRF) became a rising topic in Multi-View Stereo (MVS). Recent Signed Distance Function (SDF)-based methods demonstrated their ability to reconstruct accurate 3D shapes of Lambertian scenes.…
With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…
Robust foreground object segmentation via background modelling is a difficult problem in cluttered environments, where obtaining a clear view of the background to model is almost impossible. In this paper, we propose a method capable of…
Differentiable rendering techniques have recently shown promising results for free-viewpoint video synthesis of characters. However, such methods, either Gaussian Splatting or neural implicit rendering, typically necessitate per-subject…
Neural Radiance Fields (NeRF) can be optimized to obtain high-fidelity 3D scene reconstructions of objects and large-scale scenes. However, NeRFs require accurate camera parameters as input -- inaccurate camera parameters result in blurry…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
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…
Existing depth sensors are imperfect and may provide inaccurate depth values in challenging scenarios, such as in the presence of transparent or reflective objects. In this work, we present a general framework that leverages polarization…
Helmholtz stereopsis is one the versatile techniques for 3D geometry reconstruction from 2D images of objects with unknown and arbitrary reflectance surfaces. HS eliminates the need for surface reflectance, a challenging parameter to…
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…
Current methods for 3D reconstruction and environmental mapping frequently face challenges in achieving high precision, highlighting the need for practical and effective solutions. In response to this issue, our study introduces FlyNeRF, a…
We propose SDFDiff, a novel approach for image-based shape optimization using differentiable rendering of 3D shapes represented by signed distance functions (SDFs). Compared to other representations, SDFs have the advantage that they can…
We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…
Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…
This study explores the use of photometric techniques (shape-from-shading and uncalibrated photometric stereo) for upsampling the low-resolution depth map from an RGB-D sensor to the higher resolution of the companion RGB image. A…
We present a method for transferring the artistic features of an arbitrary style image to a 3D scene. Previous methods that perform 3D stylization on point clouds or meshes are sensitive to geometric reconstruction errors for complex…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
Digital artists often improve the aesthetic quality of digital photographs through manual retouching. Beyond global adjustments, professional image editing programs provide local adjustment tools operating on specific parts of an image.…
A depth map can be represented by a set of learned bases and can be efficiently solved in a closed form solution. However, one issue with this method is that it may create artifacts when colour boundaries are inconsistent with depth…