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Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
Urban flooding is becoming a common and devastating hazard to cause life loss and economic damage. Monitoring and understanding urban flooding in the local scale is a challenging task due to the complicated urban landscape, intricate…
This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate…
One of the promising applications of satellite images is building construction monitoring. It allows to control the construction progress around the world even in the locations that are hard to reach. One of the main hurdles of this…
Digital fringe projection (DFP) enables micrometer-level 3D reconstruction, yet extending it to large-scale mapping remains challenging because six-degree-of-freedom pose estimation often cannot match the reconstruction's precision.…
State-of-the-art techniques for monocular camera reconstruction predominantly rely on the Structure from Motion (SfM) pipeline. However, such methods often yield reconstruction outcomes that lack crucial scale information, and over time,…
Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural…
The identification and correction of manufacturing defects, particularly gaps and overlaps, are crucial for ensuring high-quality composite parts produced through Automated Fiber Placement (AFP). These imperfections are the most commonly…
Automated tracking of urban development in areas where construction information is not available became possible with recent advancements in machine learning and remote sensing. Unfortunately, these solutions perform best on high-resolution…
Automated semantic understanding of dense point clouds is a prerequisite for Scan-to-BIM pipelines, digital twin construction, and as-built verification--core tasks in the digital transformation of the construction industry. Yet for…
Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…
We introduce a comprehensive benchmark for local features and robust estimation algorithms, focusing on the downstream task -- the accuracy of the reconstructed camera pose -- as our primary metric. Our pipeline's modular structure allows…
This paper presents an automated pipeline for processing multi-view satellite images to 3D digital surface models (DSM). The proposed pipeline performs automated geo-referencing and generates high-quality densely matched point clouds. In…
Data pipelines are an essential component for end-to-end solutions that take machine learning algorithms to production. Engineering data pipelines for video-sequences poses several challenges including isolation of key-frames from video…
The formwork system belonging to the temporary structure plays an important role in the smooth progress and successful completion of a construction project. Ensuring that the formwork system is installed as designed is essential for…
Identifying the locations and footprints of buildings is vital for many practical and scientific purposes. Such information can be particularly useful in developing regions where alternative data sources may be scarce. In this work, we…
In this paper, we propose a dense depth estimation pipeline for multiview 360{\deg} images. The proposed pipeline leverages a spherical camera model that compensates for radial distortion in 360{\deg} images. The key contribution of this…
Structure from Motion or the sparse 3D reconstruction out of individual photos is a long studied topic in computer vision. Yet none of the existing reconstruction pipelines fully addresses a progressive scenario where images are only…
Curb ramps are critical for urban accessibility, but robustly detecting them in images remains an open problem due to the lack of large-scale, high-quality datasets. While prior work has attempted to improve data availability with…