Related papers: GeoFusion: Geometric Consistency informed Scene Es…

3D Gaussian Splatting (3DGS) has emerged as a key rendering pipeline for digital asset creation due to its balance between efficiency and visual quality. To address the issues of unstable pose estimation and scene representation distortion…

A dense SLAM system is essential for mobile robots, as it provides localization and allows navigation, path planning, obstacle avoidance, and decision-making in unstructured environments. Due to increasing computational demands the use of…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

3D Gaussians have recently emerged as an effective scene representation for real-time splatting and accurate novel-view synthesis, motivating several works to adapt multi-view structure prediction networks to regress per-pixel 3D Gaussians…

Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguity, and degraded performance under challenging visual…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Geometric constraints between feature matches are critical in 3D point cloud registration problems. Existing approaches typically model unordered matches as a consistency graph and sample consistent matches to generate hypotheses. However,…

Depth estimation is an important step in many computer vision problems such as 3D reconstruction, novel view synthesis, and computational photography. Most existing work focuses on depth estimation from single frames. When applied to…

3D Gaussian Splatting (3DGS) has recently attracted wide attentions in various areas such as 3D navigation, Virtual Reality (VR) and 3D simulation, due to its photorealistic and efficient rendering performance. High-quality reconstrution of…

Landslide monitoring is essential for understanding geohazards and mitigating associated risks. Existing point cloud-based methods, however, typically rely on either geometric or radiometric information and often yield sparse or non-3D…

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…

Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…

In this paper, we address the problem of building dense correspondences between human images under arbitrary camera viewpoints and body poses. Prior art either assumes small motion between frames or relies on local descriptors, which cannot…

We present a robust and accurate depth refinement system, named GeoRefine, for geometrically-consistent dense mapping from monocular sequences. GeoRefine consists of three modules: a hybrid SLAM module using learning-based priors, an online…

In this paper, we present a novel geometry-aware RGB-D Gaussian Splatting SLAM system, named G2S-ICP SLAM. The proposed method performs high-fidelity 3D reconstruction and robust camera pose tracking in real-time by representing each scene…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…