Related papers: Geometry-Aware Coverage Path Planning for Depowder…
Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D…
Centroidal Voronoi tessellation (CVT)-based mesh generation is a very effective technique for creating high-quality Voronoi meshes and their dual Delaunay triangulations that often play a crucial role in applications, including ocean and…
Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise, which hampers 3D geometric modeling and perception. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
In this paper, we consolidate and expand upon the current theory and potential applications of the set of $k$ best \emph{cascading via-paths} (CVPs) and the \emph{reciprocal pointer chain} (RPC) method for identifying them. CVPs are a…
The recently introduced Multi-dimensional Archive of Phenotypic Elites (MAP-Elites) is an evolutionary algorithm capable of producing a large archive of diverse, high-performing solutions in a single run. It works by discretizing a…
Optimized spatial partitioning algorithms are the corner stone of many successful experimental designs and statistical methods. Of these algorithms, the Centroidal Voronoi Tessellation (CVT) is the most widely utilized. CVT based methods…
Clustering methods are being applied to a wider range of scenarios involving more complex datasets, where the shapes of clusters tend to be arbitrary. In this paper, we propose a novel Path-based Valley-seeking clustering algorithm for…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
Sparse voxel-based 3D convolutional neural networks (CNNs) are widely used for various 3D vision tasks. Sparse voxel-based 3D CNNs create sparse non-empty voxels from the 3D input and perform 3D convolution operations on them only. We…
This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region…
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…
The 3D tree visualization faces multiple challenges: the election of an appropriate layout, the use of the interactions that make the data exploration easier and a metaphor that helps in the process of information understanding. A good…
A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…
As a dynamic and essential component in the road environment of urban scenarios, vehicles are the most popular investigation targets. To monitor their behavior and extract their geometric characteristics, an accurate and instant measurement…
Modern coverage path planning (CPP) for holonomic UAVs in emergency response must contend with diverse environments where regions of interest (ROIs) often take the form of highly irregular polygons, characterized by asymmetric shapes, dense…
Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…
In this work, we propose a novel approach to prioritize the depth map computation of multi-view stereo (MVS) to obtain compact 3D point clouds of high quality and completeness at low computational cost. Our prioritization approach operates…
With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for…
The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…