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We introduce the first end-to-end learning-based solution to near-field Photometric Stereo (PS), where the light sources are close to the object of interest. This setup is especially useful for reconstructing large immobile objects. Our…
Atmospheric powered descent guidance can be solved by successive convexification; however, its onboard application is impeded by the sharp increase in computation caused by nonlinear aerodynamic forces. The problem has to be converted into…
General Purpose computing on Graphical Processing Units (GPGPU) has resulted in unprecedented levels of speedup over its CPU counterparts, allowing programmers to harness the computational power of GPU shader cores to accelerate other…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
Radiance fields have revolutionized photo-realistic 3D scene visualization by enabling high-fidelity reconstruction of complex environments, making them an ideal match for light field displays. However, integrating these technologies…
This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Reconstructing structured 3D scenes from RGB images using CAD objects unlocks efficient and compact scene representations that maintain compositionality and interactability. Existing works propose training-heavy methods relying on either…
Implicit neural representation has opened up new possibilities for inverse rendering. However, existing implicit neural inverse rendering methods struggle to handle strongly illuminated scenes with significant shadows and indirect…
We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous…
Simulating high-resolution Synthetic Aperture Radar (SAR) images in complex scenes has consistently presented a significant research challenge. The development of a microwave-domain surface scattering model and its reversibility are poised…
Neural radiance fields enable state-of-the-art photorealistic view synthesis. However, existing radiance field representations are either too compute-intensive for real-time rendering or require too much memory to scale to large scenes. We…
We describe a hidden surface removal algorithm for two-dimensional layered scenes built from arbitrary primitives, particularly suited to interaction and animation in rich scenes (for example, in illustration). The method makes use of a…
The robust estimation of the mounting angle for millimeter-wave automotive radars installed on moving vehicles is investigated. We propose a novel signal processing pipeline that combines radar and inertial measurement unit (IMU) data to…
Computational Fluid Dynamics (CFD) is a major sub-field of engineering. Corresponding flow simulations are typically characterized by heavy computational resource requirements. Often, very fine and complex meshes are required to resolve…
Online reconstruction based on RGB-D sequences has thus far been restrained to relatively slow camera motions (<1m/s). Under very fast camera motion (e.g., 3m/s), the reconstruction can easily crumble even for the state-of-the-art methods.…
The reconstruction and novel view synthesis of dynamic scenes recently gained increased attention. As reconstruction from large-scale multi-view data involves immense memory and computational requirements, recent benchmark datasets provide…
We propose a relighting method for outdoor images. Our method mainly focuses on predicting cast shadows in arbitrary novel lighting directions from a single image while also accounting for shading and global effects such the sun light color…
We propose a novel approach to reconstruct RGB-D indoor scene based on plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed from it, and generates a lightweight, low-polygonal mesh with clear…
Motion blur is commonly used in game cinematics to achieve photorealism by modelling the behaviour of the camera shutter and simulating its effect associated with the relative motion of scene objects. A common real-time post-process…