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Dynamic objects have a significant impact on the robot's perception of the environment which degrades the performance of essential tasks such as localization and mapping. In this work, we address this problem by synthesizing plausible…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
In recent decades, 3D morphable model (3DMM) has been commonly used in image-based photorealistic 3D face reconstruction. However, face images are often corrupted by serious occlusion by non-face objects including eyeglasses, masks, and…
Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…
Recently, 3D version has been improved greatly due to the development of deep neural networks. A high quality dataset is important to the deep learning method. Existing datasets for 3D vision has been constructed, such as Bigbird and YCB.…
Nowadays, the enhanced capabilities of in-expensive imaging devices have led to a tremendous increase in the acquisition and sharing of multimedia content over the Internet. Despite advances in imaging sensor technology, annoying conditions…
Novel view synthesis with neural models has advanced rapidly in recent years, yet adapting these models to scene changes remains an open problem. Existing methods are either labor-intensive, requiring extensive model retraining, or fail to…
Robust perception systems are essential for autonomous vehicle safety. To navigate in a complex urban environment, it is necessary precise sensors with reliable data. The task of understanding the surroundings is hard by itself; for…
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…
Recent monocular 3D shape reconstruction methods have shown promising zero-shot results on object-segmented images without any occlusions. However, their effectiveness is significantly compromised in real-world conditions, due to imperfect…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
The modeling and manipulation of 3D scenes captured from the real world are pivotal in various applications, attracting growing research interest. While previous works on editing have achieved interesting results through manipulating 3D…
Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a…
Depth estimation features are helpful for 3D recognition. Commodity-grade depth cameras are able to capture depth and color image in real-time. However, glossy, transparent or distant surface cannot be scanned properly by the sensor. As a…
Asset management requires accurate 3D models to inform the maintenance, repair, and assessment of buildings, maritime vessels, and other key structures as they age. These downstream applications rely on high-fidelity models produced from…
Numerous techniques have been proposed for reconstructing 3D models for opaque objects in past decades. However, none of them can be directly applied to transparent objects. This paper presents a fully automatic approach for reconstructing…
Image based rendering is a fundamental problem in computer vision and graphics. Modern techniques often rely on depth image for the 3D construction. However for most of the existing depth cameras, the large and unpredictable noises can be…
Although 3D object editing has the potential to significantly influence various industries, recent research in 3D generation and editing has primarily focused on converting text and images into 3D models, often overlooking the need for…