Related papers: Multi-Resolution Planar Region Extraction for Unev…

This paper studies the problem of constructing polytopic representations of planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged…

Retrieving images from large and varied repositories using visual contents has been one of major research items, but a challenging task in the image management community. In this paper we present an efficient approach for region-based image…

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…

Despite notable results on standard aerial datasets, current state-of-the-arts fail to produce accurate building footprints in dense areas due to challenging properties posed by these areas and limited data availability. In this paper, we…

Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…

This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…

In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial vehicles (UAVs). The usage of UAVs for terrain monitoring and remote sensing is rapidly gaining momentum due…

Subsampling is one of the popular methods to balance statistical efficiency and computational efficiency in the big data era. Most approaches aim at selecting informative or representative sample points to achieve good overall information…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

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 present a multiresolution-based method for period determination that is able to deal with unevenly sampled data. This method allows us to detect superimposed periodic signals with lower signal-to-noise ratios than in…

It is well-known in image processing that computational cost increases rapidly with the number and dimensions of the images to be processed. Several fields, such as medical imaging, routinely use numerous very large images, which might also…

Ground segmentation, as the basic task of unmanned intelligent perception, provides an important support for the target detection task. Unstructured road scenes represented by open-pit mines have irregular boundary lines and uneven road…

Accurate quantification of uncertainty in neural network predictions remains a central challenge for scientific applications involving high-dimensional, correlated data. While existing methods capture either aleatoric or epistemic…

We present a new method for efficient high-quality image segmentation of objects and scenes. By analogizing classical computer graphics methods for efficient rendering with over- and undersampling challenges faced in pixel labeling tasks,…

Region extraction is a very common task in both Computer Science and Engineering with several applications in object recognition and motion analysis, among others. Most of the literature focuses on regions delimited by straight lines, often…

Ground segmentation is an important preprocessing task for autonomous vehicles (AVs) with 3D LiDARs. To solve the problem of existing ground segmentation methods being very difficult to balance accuracy and computational complexity, a fast…

Human pose estimation, with its broad applications in action recognition and motion capture, has experienced significant advancements. However, current Transformer-based methods for video pose estimation often face challenges in managing…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Piece-wise 3D planar reconstruction provides holistic scene understanding of man-made environments, especially for indoor scenarios. Most recent approaches focused on improving the segmentation and reconstruction results by introducing…