Related papers: 3D imaging from multipath temporal echoes
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…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Travel-time imaging problems seek to reconstruct an image of reflectivity of a scene by measuring travel time (and amplitude, phase) of electromagnetic or acoustic signals, such as radar and sonar. Multistatic, in this context, means that…
This paper considers the problem of sampling and reconstruction of a continuous-time sparse signal without assuming the knowledge of the sampling instants or the sampling rate. This topic has its roots in the problem of recovering multiple…
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…
One of the solutions of depth imaging of moving scene is to project a static pattern on the object and use just a single image for reconstruction. However, if the motion of the object is too fast with respect to the exposure time of the…
Seamless integration of virtual and physical worlds in augmented reality benefits from the system semantically "understanding" the physical environment. AR research has long focused on the potential of context awareness, demonstrating novel…
We propose an optimization technique for 3-D underwater object modeling from 2-D forward-scan sonar images at known poses. A key contribution, for objects imaged in the proximity of the sea surface, is to resolve the multipath artifacts due…
Multipath effects significantly influence the quality of microwave imaging in highly reflective environments, while the physical measurement aperture size constrains resolution. It is shown that by exploiting multipath reflections, improved…
Discovering 3D arrangements of objects from single indoor images is important given its many applications including interior design, content creation, etc. Although heavily researched in the recent years, existing approaches break down…
Matrix imaging paves the way towards a next revolution in wave physics. Based on the response matrix recorded between a set of sensors, it enables an optimized compensation of aberration phenomena and multiple scattering events that usually…
Humans can infer the three-dimensional structure of objects from two-dimensional visual inputs. Modeling this ability has been a longstanding goal for the science and engineering of visual intelligence, yet decades of computational methods…
Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…
A novel approach to improving the performances of confocal scanning imaging is proposed. We experimentally demonstrate its feasibility using acoustic waves. It relies on a new way to encode spatial information using the temporal dimension.…
Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
While 3D human body modeling has received much attention in computer vision, modeling the acoustic equivalent, i.e. modeling 3D spatial audio produced by body motion and speech, has fallen short in the community. To close this gap, we…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…