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In the domain of the U.S. Army modeling and simulation, the availability of high quality annotated 3D data is pivotal to creating virtual environments for training and simulations. Traditional methodologies for 3D semantic and instance…
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order…
Mixed reality (MR) is a key technology which promises to change the future of warfare. An MR hybrid of physical outdoor environments and virtual military training will enable engagements with long distance enemies, both real and simulated.…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…
When 3D-point clouds from overhead sensors are used as input to remote sensing data exploitation pipelines, a large amount of effort is devoted to data preparation. Among the multiple stages of the preprocessing chain, estimating the…
Semantic segmentation of crops and weeds is crucial for site-specific farm management; however, most existing methods depend on labor intensive pixel-level annotations. A further challenge arises when models trained on one field (source…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
We consider the challenging problem of outdoor lighting estimation for the goal of photorealistic virtual object insertion into photographs. Existing works on outdoor lighting estimation typically simplify the scene lighting into an…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Low-altitude wireless networks (LAWN) are rapidly expanding with the growing deployment of unmanned aerial vehicles (UAVs) for logistics, surveillance, and emergency response. Reliable connectivity remains a critical yet challenging task…
Unmanned Aerial Vehicles (UAVs) have become popular for use in plant phenotyping of field based crops, such as maize and sorghum, due to their ability to acquire high resolution data over field trials. Field experiments, which may comprise…
Feed-forward 3D reconstruction has advanced rapidly, but current models remain unreliable in UAV photogrammetric acquisition. We argue that this failure is caused not only by appearance-domain shift, but also by UAV-specific camera-geometry…
Reconstructing 3D human faces in the wild with the 3D Morphable Model (3DMM) has become popular in recent years. While most prior work focuses on estimating more robust and accurate geometry, relatively little attention has been paid to…
We are witnessing a proliferation of textured 3D models captured from the real world with automatic photo-reconstruction tools. Digital 3D models of this class come with a unique set of characteristics and defects -- especially concerning…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…
We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…
This work investigates the application of Unmanned Aerial Vehicle (UAV) technology for measurement of rock fragmentation without placement of scale objects in the scene to determine image scale. Commonly practiced image-based rock…
Visual inspection is predominantly used to evaluate the state of civil structures, but recent developments in unmanned aerial vehicles (UAVs) and artificial intelligence have increased the speed, safety, and reliability of the inspection…