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Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
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…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
Representing 3D objects and scenes with neural radiance fields has become very popular over the last years. Recently, surface-based representations have been proposed, that allow to reconstruct 3D objects from simple photographs. However,…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…
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…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
The ultimate goal of many image-based modeling systems is to render photo-realistic novel views of a scene without visible artifacts. Existing evaluation metrics and benchmarks focus mainly on the geometric accuracy of the reconstructed…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…
Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…
3D reconstruction is a core task in many applications such as robot navigation or sites inspections. Finding the best poses to capture part of the scene is one of the most challenging topic that goes under the name of Next Best View.…
We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…
Three-dimensional reconstruction is a fundamental problem in robotics perception. We examine the problem of active view selection to perform 3D Gaussian Splatting reconstructions with as few input images as possible. Although 3D Gaussian…
Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…
3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…
3-dimensional (3D) reconstruction is an emerging field in image processing and computer vision that aims to create 3D visualizations/ models of objects/ scenes from image sets. However, its commercial applications and benefits are yet to be…