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In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500--1000 Hz processing. The proposed method significantly…
Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…
The task of capturing and rendering 3D dynamic scenes from 2D images has become increasingly popular in recent years. However, most conventional cameras are bandwidth-limited to 30-60 FPS, restricting these methods to static or slowly…
In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…
Scene regression methods, such as VGGT, solve the Structure-from-Motion (SfM) problem by directly regressing camera poses and 3D scene structures from input images. They demonstrate impressive performance in handling images under extreme…
Existing methods for the 4D reconstruction of general, non-rigidly deforming objects focus on novel-view synthesis and neglect correspondences. However, time consistency enables advanced downstream tasks like 3D editing, motion analysis, or…
This paper presents a novel method for the reconstruction of high-resolution temporal images in dynamic tomographic imaging, particularly for discrete objects with smooth boundaries that vary over time. Addressing the challenge of limited…
This paper presents a new method for 3D depth estimation using the output of an asynchronous time driven image sensor. In association with a high speed Digital Light Processing projection system, our method achieves real-time reconstruction…
Recent advances in Neural Radiance Fields and 3D Gaussian Splatting have demonstrated strong potential for large-scale UAV-based 3D reconstruction tasks by fitting the appearance of images. However, real-world large-scale captures are often…
Recovering high-quality 3D scenes from a single RGB image is a challenging task in computer graphics. Current methods often struggle with domain-specific limitations or low-quality object generation. To address these, we propose CAST…
Simultaneous Localization and Mapping (SLAM) is a critical task in robotics, enabling systems to autonomously navigate and understand complex environments. Current SLAM approaches predominantly rely on geometric cues for mapping and…
We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…
Remarkable strides have been made in reconstructing static scenes or human bodies from monocular videos. Yet, the two problems have largely been approached independently, without much synergy. Most visual SLAM methods can only reconstruct…
Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
We propose a novel approach to recovering the translucent objects from a single time-of-flight (ToF) depth camera using deep residual networks. When recording the translucent objects using the ToF depth camera, their depth values are…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
The analysis of a crime scene is a pivotal activity in forensic investigations. Crime Scene Investigators and forensic science practitioners rely on best practices, standard operating procedures, and critical thinking, to produce rigorous…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation. However, current SCR methods often face challenges in…