Related papers: Elastic and Efficient LiDAR Reconstruction for Lar…
We introduce the EMC algorithm for reconstructing a particle's 3D diffraction intensity from very many photon shot-noise limited 2D measurements, when the particle orientation in each measurement is unknown. The algorithm combines a…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
The reconstruction and error detection performance of a Flexitron research unit equipped with a special check-cable in which is integrated an EM sensor (NDI Aurora V3) that enables tracking and reconstruction capability was assessed.…
Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…
Rehabilitation aims to help patients with limited mobility regain their physical abilities through targeted movements, exercises, stimulation, and other therapeutic methods. Recent advances in technology have introduced sensor-based systems…
We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
In this report, we applied expectation and maximization (EM) method described by Philips et al [1] to recover two-dimensional (2D) structure from multiple sparse signal images in random orientation. The detailed derivation of EM algorithm…
This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…
SAM 3D Body (3DB) achieves state-of-the-art accuracy in monocular 3D human mesh recovery, yet its inference latency of several seconds per image precludes real-time application. We present Fast SAM 3D Body, a training-free acceleration…
With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…
3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…
This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
LiDAR (laser based radar) systems are a major part of many new real-world interactive systems, one of the most notable being autonomous cars. The current market LiDAR systems are limited by detector sensitivity: when output power is at…
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…
Transformer-based 3D reconstruction has emerged as a powerful paradigm for recovering geometry and appearance from multi-view observations, offering strong performance across challenging visual conditions. As these models scale to larger…
Conventional imaging only records photons directly sent from the object to the detector, while non-line-of-sight (NLOS) imaging takes the indirect light into account. Most NLOS solutions employ a transient scanning process, followed by a…
One of the most common methods for reconstructing three-dimensional (3D) images of real objects is digital holography. This technique relies on the use of electro-optical devices that modify the phase or amplitude of light fields in a…