Related papers: Elastic and Efficient LiDAR Reconstruction for Lar…
Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…
3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…
Lidar is extensively used in the industry and mass-market. Due to its measurement accuracy and insensitivity to illumination compared to cameras, It is applied onto a broad range of applications, like geodetic engineering, self driving cars…
Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…
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…
The high demand for 3D imaging in intelligent robotics is motivating the advances of coherent LiDARs towards high performances with low complexity/cost. However, the current coherent LiDARs suffer from the tight coupling between the high…
Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…
LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
Fifth-generation (5G) communication systems, operating in higher frequency bands from 3 to 300 GHz, provide unprecedented bandwidth to enable ultra-high data rates and low-latency services. However, the use of millimeter-wave frequencies…
In this paper, we present a novel Bayesian approach for estimating spectral and range profiles from single-photon Lidar waveforms associated with single surfaces in the photon-limited regime. In contrast to classical multispectral Lidar…
LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…
Multi-baseline interferometric synthetic aperture radar (InSAR) techniques are effective approaches for retrieving the 3-D information of urban areas. In order to obtain a plausible reconstruction, it is necessary to use more than twenty…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Three-dimensional (3D) Ultrasound (US) can facilitate diagnosis, treatment planning, and image-guided therapy. However, current studies rarely provide a comprehensive evaluation of volumetric accuracy and reproducibility, highlighting the…
The Laue diffraction microscopy experiment uses the polychromatic Laue micro-diffraction technique to examine the structure of materials with sub-micron spatial resolution in all three dimensions. During this experiment, local…
Deploying 3D single-photon Lidar imaging in real world applications faces several challenges due to imaging in high noise environments and with sensors having limited resolution. This paper presents a deep learning algorithm based on…
This paper is about the efficient generation of dense, colored models of city-scale environments from range data and in particular, stereo cameras. Better maps make for better understanding; better understanding leads to better robots, but…
Single-photon light detection and ranging (LiDAR), offering single-photon sensitivity and picosecond time resolution, has been widely adopted for active imaging applications. Long-range active imaging is a great challenge, because the…
This paper introduces PanoRadar, a novel RF imaging system that brings RF resolution close to that of LiDAR, while providing resilience against conditions challenging for optical signals. Our LiDAR-comparable 3D imaging results enable, for…