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Efficient visual perception using mobile systems is crucial, particularly in unknown environments such as search and rescue operations, where swift and comprehensive perception of objects of interest is essential. In such real-world…
The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…
In multiview applications, multiple cameras acquire the same scene from different viewpoints and generally produce correlated video streams. This results in large amounts of highly redundant data. In order to save resources, it is critical…
Manually selecting viewpoints or using commonly available flight planners like circular path for large-scale 3D reconstruction using drones often results in incomplete 3D models. Recent works have relied on hand-engineered heuristics such…
This paper addresses the problem of multi-view people occupancy map estimation. Existing solutions for this problem either operate per-view, or rely on a background subtraction pre-processing. Both approaches lessen the detection…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
3D object detection with surrounding cameras has been a promising direction for autonomous driving. In this paper, we present SimMOD, a Simple baseline for Multi-camera Object Detection, to solve the problem. To incorporate multi-view…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…
The performance of a camera network monitoring a set of targets depends crucially on the configuration of the cameras. In this paper, we investigate the reconfiguration strategy for the parameterized camera network model, with which the…
Recording surgery in operating rooms is an essential task for education and evaluation of medical treatment. However, recording the desired targets, such as the surgery field, surgical tools, or doctor's hands, is difficult because the…
Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…