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Aerial image categorization plays an indispensable role in remote sensing and artificial intelligence. In this paper, we propose a new aerial image categorization framework, focusing on organizing the local patches of each aerial image into…
We present UrbanScene3D, a large-scale data platform for research of urban scene perception and reconstruction. UrbanScene3D contains over 128k high-resolution images covering 16 scenes including large-scale real urban regions and synthetic…
A key requirement for leveraging supervised deep learning methods is the availability of large, labeled datasets. Unfortunately, in the context of RGB-D scene understanding, very little data is available -- current datasets cover a small…
Sustainable roofs, such as those with greenery and photovoltaic panels, contribute to the roadmap for reducing the carbon footprint of cities. However, research on sustainable urban roofscapes is rather focused on their potential and it is…
Information on urban tree canopies is fundamental to mitigating climate change [1] as well as improving quality of life [2]. Urban tree planting initiatives face a lack of up-to-date data about the horizontal and vertical dimensions of the…
3D cars are commonly used in self-driving systems, virtual/augmented reality, and games. However, existing 3D car datasets are either synthetic or low-quality, limiting their applications in practical scenarios and presenting a significant…
Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…
Photovoltaic (PV) energy grows at an unprecedented pace, which makes it difficult to maintain up-to-date and accurate PV registries, which are critical for many applications such as PV power generation estimation. This lack of qualitative…
The next-generation high-resolution automotive radar (4D radar) can provide additional elevation measurement and denser point clouds, which has great potential for 3D sensing in autonomous driving. In this paper, we introduce a dataset…
Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D…
Freespace detection is an essential component of autonomous driving technology and plays an important role in trajectory planning. In the last decade, deep learning-based free space detection methods have been proved feasible. However,…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
The rapid expansion of distributed rooftop photovoltaic (PV) systems introduces increasing uncertainty in distribution grid planning, hosting capacity assessment, and voltage regulation. Reliable estimation of rooftop PV deployment from…
Controlling hand exoskeletons to assist individuals with grasping tasks poses a challenge due to the difficulty in understanding user intentions. We propose that most daily grasping tasks during activities of daily living (ADL) can be…
This study presents a novel approach for roof detail extraction and vectorization using remote sensing images. Unlike previous geometric-primitive-based methods that rely on the detection of corners, our method focuses on edge detection as…
Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D…
3D data derived from satellite images is essential for scene modeling applications requiring large-scale coverage or involving locations not accessible by airborne lidar or cameras. Measuring the resolution of this data is important for…
Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…
Local geometric descriptors remain an essential component for 3D rigid data matching and fusion. The devise of a rotational invariant local geometric descriptor usually consists of two steps: local reference frame (LRF) construction and…
We propose LiftReg, a 2D/3D deformable registration approach. LiftReg is a deep registration framework which is trained using sets of digitally reconstructed radiographs (DRR) and computed tomography (CT) image pairs. By using simulated…