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Lesion volume is an important predictor for prognosis in breast cancer. We make a step towards a more accurate lesion volume measurement on digital mammograms by developing a model that allows to estimate lesion volumes on processed…
A linear Gaussian state-space smoothing algorithm is presented for estimation of derivatives from a sequence of noisy measurements. The algorithm uses numerically stable square-root formulas, can handle simultaneous independent measurements…
The automatic reconstruction of 3D computer-aided design (CAD) models from CAD sketches has recently gained significant attention in the computer vision community. Most existing methods, however, rely on vector CAD sketches and 3D ground…
Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…
This paper introduces a novel method for the efficient and accurate computation of the volume of a domain whose boundary is given by an orientable hypersurface which is implicitly given as the iso-contour of a sufficiently smooth level-set…
In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
This paper tackles the challenges of self-supervised monocular depth estimation in indoor scenes caused by large rotation between frames and low texture. We ease the learning process by obtaining coarse camera poses from monocular sequences…
A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set…
In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…
Simulating non-wetting fluid invasion in volumetric images of porous materials is of broad interest in applications as diverse as electrochemical devices and CO2 sequestration. Among available methods, image-based algorithms offer much…
We introduce Scan2Plan, a novel approach for accurate estimation of a floorplan from a 3D scan of the structural elements of indoor environments. The proposed method incorporates a two-stage approach where the initial stage clusters an…
Accurate acoustic simulations of enclosed spaces require precise boundary conditions, typically expressed through surface impedances for wave-based methods. Conventional measurement techniques often rely on simplifying assumptions about the…
Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
Novel view synthesis has seen major advances in recent years, with 3D Gaussian splatting offering an excellent level of visual quality, fast training and real-time rendering. However, the resources needed for training and rendering…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
We present a novel approach for 3D indoor scene reconstruction that combines 3D Gaussian Splatting (3DGS) with mesh representations. We use meshes for the room layout of the indoor scene, such as walls, ceilings, and floors, while employing…