Related papers: A Low-Cost, Flexible and Portable Volumetric Captu…
We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system controls the motion…
Autonomous vehicles rely on perception systems to understand their surroundings for further navigation missions. Cameras are essential for perception systems due to the advantages of object detection and recognition provided by modern…
Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…
Multi-view data capture permits free-viewpoint video (FVV) content creation. To this end, several users must capture video streams, calibrated in both time and pose, framing the same object/scene, from different viewpoints. New-generation…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…
We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
Transparent object perception is a crucial skill for applications such as robot manipulation in household and laboratory settings. Existing methods utilize RGB-D or stereo inputs to handle a subset of perception tasks including depth and…
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…
Accurate 3D reconstruction using multi-camera RGB-D systems critically depends on precise extrinsic calibration to achieve proper alignment between captured views. In this paper, we introduce an iterative extrinsic calibration method that…
We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that employs a compound-eye imaging system to combine…
Multi-view triangulation is the gold standard for 3D reconstruction from 2D correspondences given known calibration and sufficient views. However in practice, expensive multi-view setups -- involving tens sometimes hundreds of cameras --…
We present a fast and efficient volumetric capture and reconstruction system that processes either RGB-D or RGB-only input to generate 3D representations in the form of point clouds and Gaussian splats. For Gaussian splat reconstructions,…