Related papers: Efficient and Distributed Large-Scale 3D Map Regis…
This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…
Holoscopic 3D imaging is a promising technique for capturing full colour spatial 3D images using a single aperture holoscopic 3D camera. It mimics fly's eye technique with a microlens array, which views the scene at a slightly different…
We present an unsupervised method for co-segmentation of a set of 3D shapes from the same class with the aim of segmenting the input shapes into consistent semantic parts and establishing their correspondence across the set. Starting from…
This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…
Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
Topographic feature maps are low dimensional representations of data, that preserve spatial dependencies. Current methods of training such maps (e.g. self organizing maps - SOM, generative topographic maps) require centralized control and…
Recently there emerge many distributed algorithms that aim at solving subgraph matching at scale. Existing algorithm-level comparisons failed to provide a systematic view to the pros and cons of each algorithm mainly due to the intertwining…
Efficient indexing and searching of high dimensional data has been an area of active research due to the growing exploitation of high dimensional data and the vulnerability of traditional search methods to the curse of dimensionality. This…
Partitioning graphs into blocks of roughly equal size such that few edges run between blocks is a frequently needed operation when processing graphs on a parallel computer. When a topology of a distributed system is known an important task…
Integration of aerial and ground images has been proved as an efficient approach to enhance the surface reconstruction in urban environments. However, as the first step, the feature point matching between aerial and ground images is…
Modern day multimedia content generation and dissemination is moving towards the presentation of more and more `realistic' scenarios. The switch from 2-dimensional (2D) to 3-dimensional (3D) has been a major driving force in that direction.…
Surface topography refers to the geometric micro-structure of a surface and defines its tactile characteristics (typically in the sub-millimeter range). High-resolution 3D scanning techniques developed recently enable the 3D reconstruction…
We present a novel approach to geolocalising panoramic images on a 2-D cartographic map based on learning a low dimensional embedded space, which allows a comparison between an image captured at a location and local neighbourhoods of the…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
3D object detection is a key perception component in autonomous driving. Most recent approaches are based on Lidar sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles,…
We present an amelioration of current known algorithms for optimal spectral partitioning problems. The idea is to use the advantage of a representation using density functions while decreasing the computational time. This is done by…
We propose a federated algorithm for reconstructing images using multimodal tomographic data sourced from dispersed locations, addressing the challenges of traditional unimodal approaches that are prone to noise and reduced image quality.…
With the advancement in the digital camera technology, the use of high resolution images and videos has been widespread in the modern society. In particular, image and video frame registration is frequently applied in computer graphics and…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…