Related papers: Joint 3D Localization and Classification of Space …
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…
Articulated object manipulation is essential for various real-world robotic tasks, yet generalizing across diverse objects remains a major challenge. A key to generalization lies in understanding functional parts (e.g., door handles and…
We introduce a novel framework for upsampled Point Spread Function (PSF) modeling using pixel-level Bayesian inference. Accurate PSF characterization is critical for precision measurements in many fields including: weak lensing, astrometry,…
The 3D LiDAR place recognition aims to estimate a coarse localization in a previously seen environment based on a single scan from a rotating 3D LiDAR sensor. The existing solutions to this problem include hand-crafted point cloud…
Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…
Precisely modeling radio propagation in complex environments has been a significant challenge, especially with the advent of 5G and beyond networks, where managing massive antenna arrays demands more detailed information. Traditional…
We propose a novel learning-based approach for robust 3D shape matching. Our method builds upon deep functional maps and can be trained in a fully unsupervised manner. Previous deep functional map methods mainly focus on predicting…
Guided ultrasonic wave localization uses spatially distributed multistatic sensor arrays and generalized beamforming strategies to detect and locate damage across a structure. The propagation channel is often very complex. Methods can…
A novel method performing 3D PTV from double frame multi-camera images is introduced. Particle velocities are estimated by following three steps. Firstly, separate particle reconstructions with a sparsity-based algorithm are performed on a…
While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Abstract While vision-based localization techniques have been widely studied for small autonomous unmanned vehicles (SAUVs), sound-source localization capabilities have not been fully enabled for SAUVs. This paper presents two novel…
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…
Feedforward 3D Gaussian Splatting (3DGS) overcomes the limitations of optimization-based 3DGS by enabling fast and high-quality reconstruction without the need for per-scene optimization. However, existing feedforward approaches typically…
We extend Regularised Diffusion-Shock (RDS) filtering from Euclidean space $\mathbb{R}_2$ [1] to position-orientation space $\mathbb{M}_2 \cong \mathbb{R}^2 \times S^1$. This has numerous advantages, e.g. making it possible to enhance and…
In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…
This paper introduces a modification of phase transform on singular value decomposition (SVD-PHAT) to localize multiple sound sources. This work aims to improve localization accuracy and keeps the algorithm complexity low for real-time…
3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and…
Visual localization is the task of estimating a camera pose in a known environment. In this paper, we utilize 3D Gaussian Splatting (3DGS)-based representations for accurate and privacy-preserving visual localization. We propose Gaussian…
Microscopy is one of the most essential imaging techniques in life sciences. High-quality images are required in order to solve (potentially life-saving) biomedical research problems. Many microscopy techniques do not achieve sufficient…