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Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…
This paper proposes a new approach for monocular dense 3D reconstruction of a complex dynamic scene from two perspective frames. By applying superpixel over-segmentation to the image, we model a generically dynamic (hence non-rigid) scene…
In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…
3D reconstruction from images is a core problem in computer vision. With recent advances in deep learning, it has become possible to recover plausible 3D shapes even from single RGB images for the first time. However, obtaining detailed…
Most autonomous vehicles are equipped with LiDAR sensors and stereo cameras. The former is very accurate but generates sparse data, whereas the latter is dense, has rich texture and color information but difficult to extract robust 3D…
In this paper, we present a new algorithm for fast, online 3D reconstruction of dynamic scenes using times of arrival of photons recorded by single-photon detector arrays. One of the main challenges in 3D imaging using single-photon lidar…
Three-dimensional ultrasound enables real-time volumetric visualization of anatomical structures. Unlike traditional 2D ultrasound, 3D imaging reduces reliance on precise probe orientation, potentially making ultrasound more accessible to…
3D reconstruction of a scene from Synthetic Aperture Radar (SAR) images mainly relies on interferometric measurements, which involve strict constraints on the acquisition process. These last years, progress in deep learning has…
Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…
Reconstructing a surface from a point cloud is an underdetermined problem. We use a neural network to study and quantify this reconstruction uncertainty under a Poisson smoothness prior. Our algorithm addresses the main limitations of…
Obtaining dense 3D reconstrution with low computational cost is one of the important goals in the field of SLAM. In this paper we propose a dense 3D reconstruction framework from monocular multispectral video sequences using jointly…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…
Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…
Aiming at the problems of color distortion, blur and excessive noise of underwater image, an underwater image enhancement algorithm based on structure-texture reconstruction is proposed. Firstly, the color equalization of the degraded image…
We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…
3D Gaussian Splatting (3DGS) has revolutionized 3D scene reconstruction, which effectively balances rendering quality, efficiency, and speed. However, existing 3DGS approaches usually generate plausible outputs and face significant…
We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…