Related papers: Panoptic Multi-TSDFs: a Flexible Representation fo…

Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…

In monocular videos that capture dynamic scenes, estimating the 3D geometry of video contents has been a fundamental challenge in computer vision. Specifically, the task is significantly challenged by the object motion, where existing…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…

In this paper, we investigate a new optimization framework for multi-view 3D shape reconstructions. Recent differentiable rendering approaches have provided breakthrough performances with implicit shape representations though they can still…

Part-aware panoptic segmentation is a problem of computer vision that aims to provide a semantic understanding of the scene at multiple levels of granularity. More precisely, semantic areas, object instances, and semantic parts are…

Augmented Reality is a topic of foremost interest nowadays. Its main goal is to seamlessly blend virtual content in real-world scenes. Due to the lack of computational power in mobile devices, rendering a virtual object with high-quality,…

Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…

3D semantic maps have played an increasingly important role in high-precision robot localization and scene understanding. However, real-time construction of semantic maps requires mobile edge devices with extremely high computing power,…

We introduce a learning-based depth map fusion framework that accepts a set of depth and confidence maps generated by a Multi-View Stereo (MVS) algorithm as input and improves them. This is accomplished by integrating volumetric visibility…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…

In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…

Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…

Real-time satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena such as floods, earthquakes, etc. One important constraint of satellite imaging is the trade-off between…

We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…

Mesh plays an indispensable role in dense real-time reconstruction essential in robotics. Efforts have been made to maintain flexible data structures for 3D data fusion, yet an efficient incremental framework specifically designed for…

Time-of-Flight (ToF) depth sensing camera is able to obtain depth maps at a high frame rate. However, its low resolution and sensitivity to the noise are always a concern. A popular solution is upsampling the obtained noisy low resolution…

We propose a novel solution for the task of video panoptic segmentation, that simultaneously predicts pixel-level semantic and instance segmentation and generates clip-level instance tracks. Our network, named VPS-Transformer, with a hybrid…

Multi-view photometric stereo (MVPS) is a preferred method for detailed and precise 3D acquisition of an object from images. Although popular methods for MVPS can provide outstanding results, they are often complex to execute and limited to…