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Reconstructing real-world objects from multi-view images is essential for applications in 3D editing, AR/VR, and digital content creation. Existing methods typically prioritize either geometric accuracy (Multi-View Stereo) or photorealistic…
We present a novel shape-approximating anisotropic re-meshing algorithm as a geometric generalization of the adaptive moving mesh method. Conventional moving mesh methods reduce the interpolation error of a mesh that discretizes a given…
In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…
3D Gaussian Splatting (3DGS) has emerged as a core technique for 3D representation. Its effectiveness largely depends on precise camera poses and accurate point cloud initialization, which are often derived from pretrained Multi-View Stereo…
In this paper, we propose a novel gradient-free and dimensionality-independent sampler, the Geometric Optics Approximation Sampling (GOAS), based on a near-field reflector system. The key idea involves constructing a reflecting surface that…
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…
We present DeSiRe-GS, a self-supervised gaussian splatting representation, enabling effective static-dynamic decomposition and high-fidelity surface reconstruction in complex driving scenarios. Our approach employs a two-stage optimization…
Image-to-3D models increasingly rely on hierarchical generation to disentangle geometry and texture. However, the design choices underlying these two-stage models--particularly the optimal choice of intermediate geometric…
This paper studies the problem of estimating physical properties (system identification) through visual observations. To facilitate geometry-aware guidance in physical property estimation, we introduce a novel hybrid framework that…
Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…
Visualization techniques for the decision space of continuous multi-objective optimization problems (MOPs) are rather scarce in research. For long, all techniques focused on global optimality and even for the few available landscape…
Combinatorial optimization problem (COP) is difficult to solve because of the massive number of local optimal solutions in his solution space. Various methods have been put forward to smooth the solution space of COPs, including homotopic…
We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…
We present TopoGaussian, a holistic, particle-based pipeline for inferring the interior structure of an opaque object from easily accessible photos and videos as input. Traditional mesh-based approaches require tedious and error-prone mesh…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…
Neural implicit representations have recently demonstrated compelling results on dense Simultaneous Localization And Mapping (SLAM) but suffer from the accumulation of errors in camera tracking and distortion in the reconstruction.…
Accurate surface geometry representation is crucial in 3D visual computing. Explicit representations, such as polygonal meshes, and implicit representations, like signed distance functions, each have distinct advantages, making efficient…
Recently, Gaussian Splatting (GS) has received a lot of attention in surface reconstruction. However, while 3D objects can be of complex and diverse shapes in the real world, existing GS-based methods only limitedly use a single type of…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…