Related papers: LiDAR Enhanced Structure-from-Motion

Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous…

While 3D LiDAR sensor technology is becoming more advanced and cheaper every day, the growth of digitalization in the AEC industry contributes to the fact that 3D building information models (BIM models) are now available for a large part…

Single-photon light detection and ranging (LiDAR) is a key technology for depth imaging through complex environments. Despite recent advances, an open challenge is the ability to isolate the LiDAR signal from other spurious sources…

In this paper we present a semi-automatic 2D-3D local registration pipeline capable of coloring 3D models obtained from 3D scanners by using uncalibrated images. The proposed pipeline exploits the Structure from Motion (SfM) technique in…

SfM (Structure from Motion) has been extensively used for UAV (Unmanned Aerial Vehicle) image orientation. Its efficiency is directly influenced by feature matching. Although image retrieval has been extensively used for match pair…

Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…

Three-dimensional (3D) reconstruction from two-dimensional images is an active research field in computer vision, with applications ranging from navigation and object tracking to segmentation and three-dimensional modeling. Traditionally,…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of robust SLAM algorithms and the emergence of new and…

Real-time spatial monitoring in underground longwall operations is challenging due to methane-related safety risks, poor visibility, elevated thermal loads, spatial confinement, and bandwidth-limited communications. Currently available…

Data fusion algorithms that employ LiDAR measurements, such as Visual-LiDAR, LiDAR-Inertial, or Multiple LiDAR Odometry and simultaneous localization and mapping (SLAM) rely on precise timestamping schemes that grant synchronicity to data…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

In this paper, we propose a thermal-infrared simultaneous localization and mapping (SLAM) system enhanced by sparse depth measurements from Light Detection and Ranging (LiDAR). Thermal-infrared cameras are relatively robust against fog,…

- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

A simple, yet general, formalism for the optimized linear combination of astrophysical images is constructed and demonstrated. The formalism allows the user to combine multiple undersampled images to provide oversampled output at high…

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and…