Related papers: NaRPA: Navigation and Rendering Pipeline for Astro…
Reconstructing an object's geometry and appearance from multiple images, also known as inverse rendering, is a fundamental problem in computer graphics and vision. Inverse rendering is inherently ill-posed because the captured image is an…
Visual navigation for cross-embodiment robots is challenging due to variations in robot and camera configurations, which can lead to the failure of navigation tasks. Previous approaches typically rely on collecting massive datasets across…
On-orbit operations require the estimation of the relative 6D pose, i.e., position and orientation, between a chaser spacecraft and its target. While data-driven spacecraft pose estimation methods have been developed, their adoption in real…
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
While ray tracing has become increasingly common and path tracing is well understood by now, a major challenge lies in crafting an easy-to-use and efficient system implementing these technologies. Following a purely physically-based…
Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…
In this paper we present ADOP, a novel point-based, differentiable neural rendering pipeline. Like other neural renderers, our system takes as input calibrated camera images and a proxy geometry of the scene, in our case a point cloud. To…
The practical deployment of Neural Radiance Fields (NeRF) in rendering applications faces several challenges, with the most critical one being low rendering speed on even high-end graphic processing units (GPUs). In this paper, we present…
We propose an image warping-based remote rendering technique for volumes that decouples the rendering and display phases. Our work builds on prior work that samples the volume on the client using ray casting and reconstructs a z-value based…
Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the representation of natural, complex 3D scenes. NeRFs represent continuous volumetric density and RGB values in a neural network, and generate photo-realistic…
Recent interest in on-orbit servicing and Active Debris Removal (ADR) missions have driven the need for technologies to enable non-cooperative rendezvous manoeuvres. Such manoeuvres put heavy burden on the perception capabilities of a…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Space missions are becoming increasingly ambitious, necessitating high-performance onboard spacecraft computing systems. In response, field-programmable gate arrays (FPGAs) have garnered significant interest due to their flexibility,…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…
There is rising interest in differentiable rendering, which allows explicitly modeling geometric priors and constraints in optimization pipelines using first-order methods such as backpropagation. Incorporating such domain knowledge can…
Missions to small celestial bodies rely heavily on optical feature tracking for characterization of and relative navigation around the target body. While techniques for feature tracking based on deep learning are a promising alternative to…
A critical challenge in deploying unmanned aerial vehicles (UAVs) for autonomous tasks is their ability to navigate in an unknown environment. This paper introduces a novel vision-depth fusion approach for autonomous navigation on…
Neural scene representations, such as Neural Radiance Fields (NeRF), are based on training a multilayer perceptron (MLP) using a set of color images with known poses. An increasing number of devices now produce RGB-D(color + depth)…
Traditional analysis techniques may not be sufficient for astronomers to make the best use of the data sets that current and future instruments, such as the Square Kilometre Array and its Pathfinders, will produce. By utilizing the…
Ray tracing is a technique for generating an image by tracing the path of light through pixels in an image plane and simulating the effects of high-quality global illumination at a heavy computational cost. Because of the high computation…