Related papers: Real-Time Surface Fitting to RGBD Sensor Data
Ground-penetrating radar on planes and satellites now makes it practical to collect 3D observations of the subsurface structure of the polar ice sheets, providing crucial data for understanding and tracking global climate change. But…
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…
Current scene depth estimation approaches mainly rely on optical sensing, which carries privacy concerns and suffers from estimation ambiguity for distant, shiny, and transparent surfaces/objects. Reconfigurable intelligent surfaces (RISs)…
Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…
Surveillance and surveying are two important applications of empirical research. A major part of terrain modelling is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…
Implicit Neural Representations (INR) have been successfully employed for Arbitrary-scale Super-Resolution (ASR). However, INR-based models need to query the multi-layer perceptron module numerous times and render a pixel in each query,…
Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…
Real-time rendering with global illumination is crucial to afford the user realistic experience in virtual environments. We present a learning-based estimator to predict diffuse indirect illumination in screen space, which then is combined…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
Chronic wound monitoring and management require accurate and efficient wound measurement methods. This paper presents a fast, non-invasive 3D wound measurement algorithm based on RGB-D imaging. The method combines RGB-D odometry with…
Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…
Computer simulators are nowadays widely used to understand complex physical systems in many areas such as aerospace, renewable energy, climate modeling, and manufacturing. One fundamental issue in the study of computer simulators is known…
3D Gaussian Splatting (3DGS) has made remarkable progress in RGBD SLAM. Current methods usually use 3D Gaussians or view-tied 3D Gaussians to represent radiance fields in tracking and mapping. However, these Gaussians are either too…
We present an automatic method for annotating images of indoor scenes with the CAD models of the objects by relying on RGB-D scans. Through a visual evaluation by 3D experts, we show that our method retrieves annotations that are at least…
Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…
We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…
This article presents a new approach to the real-time solution of inverse problems on embedded systems. The class of problems addressed corresponds to ordinary differential equations (ODEs) with generalized linear constraints, whereby the…
We present a fast and simple technique to convert images into a radiance surface-based scene representation. Building on existing radiance volume reconstruction algorithms, we introduce a subtle yet impactful modification of the loss…
Integrating an RGB camera into a ToF imaging system has become a significant technique for perceiving the real world. The RGB guided ToF imaging system is crucial to several applications, including face anti-spoofing, saliency detection,…