Related papers: Drone-based Volume Estimation in Indoor Environmen…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
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…
We present an approach for object-level detection and segmentation of target indoor assets in 3D Gaussian Splatting (3DGS) scenes, reconstructed from 360{\deg} drone-captured imagery. We introduce a 3D object codebook that jointly leverages…
Creating geometric abstracted models from image-based scene reconstructions is difficult due to noise and irregularities in the reconstructed model. In this paper, we present a geometric modeling method for noisy reconstructions dominated…
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However,…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
The convergence of autonomous indoor drones with physics-aware sensing technologies promises to transform property assessment from subjective visual inspection to objective, quantitative measurement. This comprehensive review examines the…
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…
We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…
We aim to study a finite volume scheme to solve the two dimensional inviscid primitive equations of the atmosphere with humidity and saturation, in presence of topography and subject to physically plausible boundary conditions to the system…
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an indoor exploration framework that uses learning to predict…
Volume estimation of onshore cargo piles is of economic importance for shipping and mining companies as well as public authorities for real-time planning of logistics, business intelligence, transport services by land or sea and…
Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…
Recent widespread applications for unmanned aerial vehicles (UAVs) -- from infrastructure inspection to urban logistics -- have prompted an urgent need for high-accuracy three-dimensional (3D) radio maps. However, existing methods designed…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
Autonomous vehicle manufacturers recognize that LiDAR provides accurate 3D views and precise distance measures under highly uncertain driving conditions. Its practical implementation, however, remains costly. This paper investigates the…
The past years have shown a remarkable growth in use-cases for micro aerial vehicles (MAVs). Conceivable indoor applications require highly robust environment perception, fast reaction to changing situations, and stable navigation, but…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
Vehicle volume serves as a critical metric and the fundamental basis for traffic signal control, transportation project prioritization, road maintenance plans and more. Traditional methods of quantifying vehicle volume rely on manual…
In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…