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Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…
Novel view synthesis and 3D modeling using implicit neural field representation are shown to be very effective for calibrated multi-view cameras. Such representations are known to benefit from additional geometric and semantic supervision.…
Learning-based surface reconstruction based on unsigned distance functions (UDF) has many advantages such as handling open surfaces. We propose SuperUDF, a self-supervised UDF learning which exploits a learned geometry prior for efficient…
We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Neural implicit 3D representations have emerged as a powerful paradigm for reconstructing surfaces from multi-view images and synthesizing novel views. Unfortunately, existing methods such as DVR or IDR require accurate per-pixel object…
Millimeter Wave Radar is being adopted as a viable alternative to lidar and radar in adverse visually degraded conditions, such as the presence of fog and dust. However, this sensor modality suffers from severe sparsity and noise under…
Despite 3D Gaussian Splatting (3DGS) excelling in most configurations, it lacks generalization across novel viewpoints in a few-shot scenario because it overfits to the sparse observations. We revisit 3DGS optimization from a machine…
The aim of this work is to introduce MaRF, a novel framework able to synthesize the Martian environment using several collections of images from rover cameras. The idea is to generate a 3D scene of Mars' surface to address key challenges in…
The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…
Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…
Neural implicit fields have established a new paradigm for scene representation, with subsequent work achieving high-quality real-time rendering. However, reconstructing 3D scenes from oblique aerial photography presents unique challenges,…
Depth maps are used in a wide range of applications from 3D rendering to 2D image effects such as Bokeh. However, those predicted by single image depth estimation (SIDE) models often fail to capture isolated holes in objects and/or have…
The recovery of 3D shape and pose from 2D landmarks stemming from a large ensemble of images can be viewed as a non-rigid structure from motion (NRSfM) problem. Classical NRSfM approaches, however, are problematic as they rely on heuristic…
Given a set of ordered pixel data in the form of an image, our goal is to perform upsampling on the data such that: the resulting resolution is improved by some factor, the final result passes the human test, having added new, believable,…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
Despite an emerging interest in MIMO radar, the utilization of its complementary strengths in combination with optical depth sensors has so far been limited to far-field applications, due to the challenges that arise from mutual sensor…
Guided upsampling is an effective approach for accelerating high-resolution image processing. In this paper, we propose a simple yet effective guided upsampling method. Each pixel in the high-resolution image is represented as a linear…
In this paper, a new sampling scheme of the near field radiated by a planar source is proposed and assessed. More in detail, the paper shows a uniform sampling criterion that allows representing the near field over a plane with a number of…
We derive a new margin-based regularization formulation, termed multi-margin regularization (MMR), for deep neural networks (DNNs). The MMR is inspired by principles that were applied in margin analysis of shallow linear classifiers, e.g.,…