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We consider geometry parameter estimation in industrial sawmill fan-beam X-ray tomography. In such industrial settings, scanners do not always allow identification of the location of the source-detector pair, which creates the issue of…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
Both in terrestrial and extraterrestrial environments, the precise and informative model of the ground and the surface ahead is crucial for navigation and obstacle avoidance. The ground surface is not always flat and it may be sloped, bumpy…
Estimating subsurface dielectric properties is essential for applications ranging from environmental surveys of soils to nondestructive evaluation of concrete in infrastructure. Conventional wave inversion methods typically assume few…
This paper introduces an algorithm to generate a 3D extruder path, combining classic planar and non-planar layers to enhance the surface quality and accuracy of complex 3D printed parts. Material extrusion 3D printing, due to its…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…
Reconstructing open surfaces from multi-view images is vital in digitalizing complex objects in daily life. A widely used strategy is to learn unsigned distance functions (UDFs) by checking if their appearance conforms to the image…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
Acquiring an anatomical map from position data is important for medical applications where catheters interact with soft tissues. To improve autonomous navigation in these settings, we require information beyond nonparametric maps typically…
A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geodesic distances restricted to the polygon…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
Reconstructing accurate surfaces with radiance fields has progressed rapidly, yet two promising explicit representations, 3D Gaussian Splatting and sparse-voxel rasterization, exhibit complementary strengths and weaknesses. 3D Gaussian…
Visual information plays an indispensable role in our daily interactions with environment. Such information is manipulated for a wide range of purposes spanning from basic object and material perception to complex gesture interpretations.…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
In this paper, the programmable signal propagation paradigm, enabled by Reconfigurable Intelligent Surfaces (RISs), is exploited for high accuracy $3$-Dimensional (3D) user localization with a single multi-antenna base station. Capitalizing…
Accurate and fast 3D imaging of specular surfaces still poses major challenges for state-of-the-art optical measurement principles. Frequently used methods, such as phase-measuring deflectometry (PMD) or shape-from-polarization (SfP), rely…