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A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
The 3D microstructure of porous media, such as electrodes in lithium-ion batteries or fiber-based materials, significantly impacts the resulting macroscopic properties, including effective diffusivity or permeability. Consequently,…
Recently, 3D Gaussian Splatting has emerged as a prominent research direction owing to its ultrarapid training speed and high-fidelity rendering capabilities. However, the unstructured and irregular nature of Gaussian point clouds poses…
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to generalize to the real world due to…
Seismic imaging is the numerical process of creating a volumetric representation of the subsurface geological structures from elastic waves recorded at the surface of the Earth. As such, it is widely utilized in the energy and construction…
Micro-CT scanning of rocks significantly enhances our understanding of pore-scale physics in porous media. With advancements in pore-scale simulation methods, such as pore network models, it is now possible to accurately simulate multiphase…
3D Gaussian Splatting (3DGS) has demonstrated impressive Novel View Synthesis (NVS) results in a real-time rendering manner. During training, it relies heavily on the average magnitude of view-space positional gradients to grow Gaussians to…
Recent advancements in photo-realistic novel view synthesis have been significantly driven by Gaussian Splatting (3DGS). Nevertheless, the explicit nature of 3DGS data entails considerable storage requirements, highlighting a pressing need…
Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…
3D Gaussian Splatting (3DGS) enables photorealistic rendering but suffers from artefacts due to sparse Structure-from-Motion (SfM) initialisation. To address this limitation, we propose GP-GS, a Gaussian Process (GP) based densification…
Modeling and inferring spatial relationships and predicting missing values of environmental data are some of the main tasks of geospatial statisticians. These routine tasks are accomplished using multivariate geospatial models and the…
Recent advances in (scanning) transmission electron microscopy have enabled routine generation of large volumes of high-veracity structural data on 2D and 3D materials, naturally offering the challenge of using these as starting inputs for…
One of the major challenges in multi-person pose estimation is instance-aware keypoint estimation. Previous methods address this problem by leveraging an off-the-shelf detector, heuristic post-grouping process or explicit instance…
For mobile robots to operate autonomously in general environments, perception is required in the form of a dense metric map. For this purpose, we present the stochastic triangular mesh (STM) mapping technique: a 2.5-D representation of the…
In this paper we contribute a simple yet effective approach for estimating 3D poses of multiple people from multi-view images. Our proposed coarse-to-fine pipeline first aggregates noisy 2D observations from multiple camera views into 3D…
This study presents a geometric deep learning framework for predicting cold spray particle impact responses using finite element simulation data. A parametric dataset was generated through automated Abaqus simulations spanning a systematic…
Efficient scene representations are essential for many real-world applications, especially those involving spatial measurement. Although current NeRF-based methods have achieved impressive results in reconstructing building-scale scenes,…
Nowadays, robotics, AR, and 3D modeling applications attract considerable attention to single-view depth estimation (SVDE) as it allows estimating scene geometry from a single RGB image. Recent works have demonstrated that the accuracy of…
The near-surface environment is often too complex to enable inference of hydrological and environmental variables using one geophysical data type alone. Joint inversion and coupled inverse modeling involving numerical flow- and transport…