Related papers: MRFMap: Online Probabilistic 3D Mapping using Forw…

We present a unified framework for camera-space 3D hand pose estimation from a single RGB image based on 3D implicit representation. As opposed to recent works, most of which first adopt holistic or pixel-level dense regression to obtain…

Volumetric depth map fusion based on truncated signed distance functions has become a standard method and is used in many 3D reconstruction pipelines. In this paper, we are generalizing this classic method in multiple ways: 1) Semantics:…

We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously…

X-Ray imaging is quick, cheap and useful for front-line care assessment and intra-operative real-time imaging (e.g., C-Arm Fluoroscopy). However, it suffers from projective information loss and lacks vital volumetric information on which…

A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set…

Functional Magnetic Resonance Imaging (fMRI) provides dynamical access into the complex functioning of the human brain, detailing the hemodynamic activity of thousands of voxels during hundreds of sequential time points. One approach…

It is desirable to create 3D object models and 3D maps from 2D input images for applications such as navigation, virtual tourism, and urban planning. The traditional methods of creating 3D maps, (such as photogrammetry), require a large…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise, which makes using raw data for any meaningful inference…

Magnetic Resonance Fingerprinting (MRF) enables the simultaneous quantification of multiple properties of biological tissues. It relies on a pseudo-random acquisition and the matching of acquired signal evolutions to a precomputed…

This paper introduces a new method for learning and inferring sparse representations of depth (disparity) maps. The proposed algorithm relaxes the usual assumption of the stationary noise model in sparse coding. This enables learning from…

In this study, we firstly introduce a method that converts CityGML data into voxels which works efficiently and fast in high resolution for large scale datasets such as cities but by sacrificing some building details to overcome the…

While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…

Object co-occurrences provide a key cue for finding objects successfully and efficiently in unfamiliar environments. Typically, one looks for cups in kitchens and views fridges as evidence of being in a kitchen. Such priors have also been…

Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…

Magnetic resonance velocimetry (MRV) is a non-invasive experimental technique widely used in medicine and engineering to measure the velocity field of a fluid. These measurements are dense but have a low signal-to-noise ratio (SNR). The…

Many machine learning problems involve regressing variables on a non-Euclidean manifold -- e.g. a discrete probability distribution, or the 6D pose of an object. One way to tackle these problems through gradient-based learning is to use a…

This paper proposes a high-accuracy radio map construction method tailored for environments where location information is affected by bursty errors. Radio maps are an effective tool for visualizing wireless environments. Although extensive…

Despite the growing interest in innovative functionalities for collaborative robotics, volumetric detection remains indispensable for ensuring basic security. However, there is a lack of widely used volumetric detection frameworks…