Related papers: Iterative Surface Mapping Using Local Geometry App…
In many applications of tomography, the acquired projections are either limited in number or contain a significant amount of noise. In these cases, standard reconstruction methods tend to produce artifacts that can make further analysis…
An optical imager that exploits off-center image rotation to encode both the lateral and depth coordinates of point sources in a single snapshot can perform 3D localization and tracking of space debris. When actively illuminated, unresolved…
This paper presents an adaptive and intelligent sparse model for digital image sampling and recovery. In the proposed sampler, we adaptively determine the number of required samples for retrieving image based on space-frequency-gradient…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup…
Finding surface mappings with least distortion arises from many applications in various fields. Extremal Teichm\"uller maps are surface mappings with least conformality distortion. The existence and uniqueness of the extremal…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper…
In this paper we present a locally and dimension-adaptive sparse grid method for interpolation and integration of high-dimensional functions with discontinuities. The proposed algorithm combines the strengths of the generalised sparse grid…
We propose a computational framework named iterative local adaptive majorize-minimization (I-LAMM) to simultaneously control algorithmic complexity and statistical error when fitting high dimensional models. I-LAMM is a two-stage…
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide…
This paper explores the question of creating and maintaining terrain maps in environments where the terrain changes. The specific example explored is the construction of terrain maps from 3D LiDAR measurements on an electric rope shovel.…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
With inputs from RGB-D camera, industrial camera and wheel odometer, in this letter, we propose a geometry-based detecting method, by which the 3-D modulated LED map can be acquired with the aid of visual odometry algorithm from ORB-SLAM2…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…
The efficient design of continuous freeform surfaces, which transform a given source into an arbitrary target intensity, remains a challenging problem. A popular approach are ray-mapping methods, where first a ray mapping between the…
Non-parametric inference for functional data over two-dimensional domains entails additional computational and statistical challenges, compared to the one-dimensional case. Separability of the covariance is commonly assumed to address these…