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We present 3D-MPA, a method for instance segmentation on 3D point clouds. Given an input point cloud, we propose an object-centric approach where each point votes for its object center. We sample object proposals from the predicted object…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
Several variants of Neural Radiance Fields (NeRFs) have significantly improved the accuracy of synthesized images and surface reconstruction of 3D scenes/objects. In all of these methods, a key characteristic is that none can train the…
The pruning of 3D Gaussian splats is essential for reducing their complexity to enable efficient storage, transmission, and downstream processing. However, most of the existing pruning strategies depend on camera parameters, rendered…
Recently, the Neural Radiance Field (NeRF) advancement has facilitated few-shot Novel View Synthesis (NVS), which is a significant challenge in 3D vision applications. Despite numerous attempts to reduce the dense input requirement in NeRF,…
Compressed sensing (CS) is a promising approach to reduce the number of measurements in photoacoustic tomography (PAT) while preserving high spatial resolution. This allows to increase the measurement speed and to reduce system costs.…
Camera-based 3D object detection in Bird's Eye View (BEV) is one of the most important perception tasks in autonomous driving. Earlier methods rely on dense BEV features, which are costly to construct. More recent works explore sparse…
The recent introduction of 3D Gaussian Splatting (3DGS) has significantly advanced novel view synthesis. Several studies have further improved the rendering quality of 3DGS, yet they still exhibit noticeable visual discrepancies when…
We propose Self-Augmented Residual 3D Gaussian Splatting (SA-ResGS), a novel framework to stabilize uncertainty quantification and enhancing uncertainty-aware supervision in next-best-view (NBV) selection for active scene reconstruction.…
The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…
Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent ability in small-scale 3D surface reconstruction. However, extending 3DGS to large-scale scenes remains a significant challenge. To address this gap, we propose a novel…
Pointing and acquisition are an important aspect of free-space optical communications because of the narrow beamwidth associated with the optical signal. In this paper, we have analyzed the pointing and acquisition problem in free-space…
One of the common algorithms used to reconstruct photoacoustic (PA) images is the non-adaptive Delay-and-Sum (DAS) beamformer. However, the quality of the reconstructed PA images obtained by DAS is not satisfying due to its high level of…
Ultrasound elastography is an emerging noninvasive imaging technique wherein pathological alterations can be visualized by revealing the mechanical properties of the tissue. Estimating tissue displacement in all directions is required to…
Seismic imaging in challenging sedimentary basins and reservoirs requires acquiring, processing, and imaging very large volumes of data (tens of terabytes). To reduce the cost of acquisition and the time from acquiring the data to producing…
Phase-sensitive amplification of squeezed states is a technique to mitigate high detection loss, e.g. at 2-micrometre wavelengths. Our analytical model of amplified squeezed states expands on the effect of phase noise and derives two…
Photoacoustic (PA) imaging is a biomedical imaging modality capable of acquiring high-contrast images of optical absorption at depths much greater than traditional optical imaging techniques. However, practical instrumentation and geometry…
Recovering 3D information from scenes via multi-view stereo reconstruction (MVS) and novel view synthesis (NVS) is inherently challenging, particularly in scenarios involving sparse-view setups. The advent of 3D Gaussian Splatting (3DGS)…
3D Gaussian splatting (3DGS) is an innovative rendering technique that surpasses the neural radiance field (NeRF) in both rendering speed and visual quality by leveraging an explicit 3D scene representation. Existing 3DGS approaches require…
Recent advances in 3D Gaussian splatting have significantly improved real-time novel view synthesis, yet insufficient geometric constraints during scene optimization often result in blurred reconstructions of fine-grained details,…