Related papers: Elastic and Efficient LiDAR Reconstruction for Lar…
Conventional methods for outdoor environment reconstruction rely predominantly on vision-based techniques like photogrammetry and LiDAR, facing limitations such as constrained coverage, susceptibility to environmental conditions, and high…
Event cameras are bio-inspired sensors that offer several advantages, such as low latency, high-speed and high dynamic range, to tackle challenging scenarios in computer vision. This paper presents a solution to the problem of 3D…
We propose a simple all-in-line single-shot scheme for diagnostics of ultrashort laser pulses, consisting of a multi-mode fiber, a nonlinear crystal and a CCD camera. The system records a 2D spatial intensity pattern, from which the pulse…
Electron tomography is a technique used in both materials science and structural biology to image features well below optical resolution limit. In this work, we present a new algorithm for reconstructing the three-dimensional(3D)…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Deploying advanced imaging solutions to robotic and autonomous systems by mimicking human vision requires simultaneous acquisition of multiple fields of views, named the peripheral and fovea regions. Low-resolution peripheral field provides…
LiDAR data is becoming increasingly essential with the rise of autonomous vehicles. Its ability to provide 360deg horizontal field of view of point cloud, equips self-driving vehicles with enhanced situational awareness capabilities. While…
Accurate reconstruction of static environments from LiDAR scans of scenes containing dynamic objects, which we refer to as Dynamic to Static Translation (DST), is an important area of research in Autonomous Navigation. This problem has been…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…
Deploying 3D single-photon Lidar imaging in real world applications faces multiple challenges including imaging in high noise environments. Several algorithms have been proposed to address these issues based on statistical or learning-based…
This work presents a lightweight super-resolution (LiteSR) neural network for depth and intensity images acquired from a consumer-grade single-photon avalanche diode (SPAD) array with a 48x32 spatial resolution. The proposed framework…
This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…
Light detection and ranging (LiDAR) have emerged as a crucial tool for high-resolution 3D imaging, particularly in autonomous vehicles, remote sensing, and augmented reality. However, the increasing demand for faster acquisition speed and…
We present a fully automatic approach for reconstructing compact 3D building models from large-scale airborne point clouds. A major challenge of urban reconstruction from airborne LiDAR point clouds lies in that the vertical walls are…
Real-time spatial monitoring in underground longwall operations is challenging due to methane-related safety risks, poor visibility, elevated thermal loads, spatial confinement, and bandwidth-limited communications. Currently available…
Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
Light detection and ranging (LiDAR) is a ubiquitous tool to provide precise spatial awareness in various perception environments. A bionic LiDAR that can mimic human-like vision by adaptively gazing at selected regions of interest within a…
Utilizing widely distributed communication nodes to achieve environmental reconstruction is one of the significant scenarios for Integrated Sensing and Communication (ISAC) and a crucial technology for 6G. To achieve this crucial…