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Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
A key challenge for autonomous driving lies in maintaining real-time situational awareness regarding surrounding obstacles under strict latency constraints. The high processing requirements coupled with limited onboard computational…
The rapid development in information technology has immensely contributed to the use of modern approaches for visualizing volumetric data. Consequently, medical volume visualization is increasingly attracting attention towards achieving an…
Modern GPUs come with dedicated hardware to perform ray/triangle intersections and bounding volume hierarchy (BVH) traversal. While the primary use case for this hardware is photorealistic 3D computer graphics, with careful algorithm design…
With FaSS-MVS, we present an approach for fast multi-view stereo with surface-aware Semi-Global Matching that allows for rapid depth and normal map estimation from monocular aerial video data captured by UAVs. The data estimated by…
3D Gaussian Splatting has recently emerged as an efficient solution for high-quality and real-time novel view synthesis. However, its capability for accurate surface reconstruction remains underexplored. Due to the discrete and unstructured…
Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…
One of today's most propitious immersive technologies is virtual reality (VR). This term is colloquially associated with headsets that transport users to a bespoke, built-for-purpose immersive 3D virtual environment. It has given rise to…
Recently, the integration of unmanned aerial vehicle (UAV) and visible light communication (VLC) technologies has emerged as a promising solution to offer flexible communication and efficient lighting. This letter investigates the…
This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…
Modern robots must coexist with humans in dense urban environments. A key challenge is the ghost probe problem, where pedestrians or objects unexpectedly rush into traffic paths. This issue affects both autonomous vehicles and human…
Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…
Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…
Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, scaling these models to long-sequence image inputs remains a significant challenge due to inference-time inefficiency. In this…
3D Gaussian splatting (3DGS) has recently emerged as an alternative representation that leverages a 3D Gaussian-based representation and introduces an approximated volumetric rendering, achieving very fast rendering speed and promising…
UAVs have become one of the widely used remote sensing platforms and played a critical role in the construction of smart cities. However, due to the complex environment in urban scenes, secure and accurate data acquisition brings great…
Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a…
The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…