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Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
Drones have revolutionized the fields of aerial imaging, mapping, and disaster recovery. However, the deployment of drones in low-light conditions is constrained by the image quality produced by their on-board cameras. In this paper, we…
Photomechanics is a crucial branch of solid mechanics. The localization of point targets constitutes a fundamental problem in optical experimental mechanics, with extensive applications in various missions of UAVs. Localizing moving targets…
Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…
Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…
Generating trajectories for synthetic aperture radar (SAR)-equipped aircraft poses significant challenges due to terrain constraints, and the need for straight-flight segments to ensure high-quality imaging. Related works usually focus on…
Guided by the hologram technology of the infamous Star Wars franchise, I present an application that creates real-time holographic overlays using LiDAR augmented 3D reconstruction. Prior attempts involve SLAM or NeRFs which either require…
The increasing miniaturization of Unmanned Aerial Vehicles (UAVs) has expanded their deployment potential to indoor and hard-to-reach areas. However, this trend introduces distinct challenges, particularly in terms of flight dynamics and…
To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous…
Indoor SLAM often suffers from issues such as scene drifting, double walls, and blind spots, particularly in confined spaces with objects close to the sensors (e.g. LiDAR and cameras) in reconstruction tasks. Real-time visualization of…
Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…
Single-photon light detection and ranging (lidar) captures depth and intensity information of a 3D scene. Reconstructing a scene from observed photons is a challenging task due to spurious detections associated with background illumination…
Accurate prediction of aerodynamic forces in real-time is crucial for autonomous navigation of unmanned aerial vehicles (UAVs). This paper presents a data-driven aerodynamic force prediction model based on a small number of pressure sensors…
Spectrum sensing and the generation of 3D Radio Environment Maps (REMs) are essential for enabling spectrum sharing within cognitive radio networks. While Uncrewed Aerial Vehicles (UAVs) offer high-mobility 3D sensing, REM accuracy is…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…
This paper discusses the reconstruction of LoD2 building models from 2D and 3D data for large-scale urban environments. Traditional methods involve the use of LiDAR point clouds, but due to high costs and long intervals associated with…
Monocular 3D building reconstruction from remote sensing imagery is essential for scalable urban modeling, yet existing methods often require task-specific architectures and intensive supervision. This paper presents the first systematic…
With the technological advancements of aerial imagery and accurate 3d reconstruction of urban environments, more and more attention has been paid to the automated analyses of urban areas. In our work, we examine two important aspects that…
Man-made environments typically comprise planar structures that exhibit numerous geometric relationships, such as parallelism, coplanarity, and orthogonality. Making full use of these relationships can considerably improve the robustness of…