Related papers: FusionSense: Bridging Common Sense, Vision, and To…
High-quality remote sensing (RS) image acquisition is fundamentally constrained by physical limitations. While Multi-Frame Super-Resolution (MFSR) and Pansharpening address this by exploiting complementary information, they are typically…
The advances in remote sensing technologies have boosted applications for Earth observation. These technologies provide multiple observations or views with different levels of information. They might contain static or temporary views with…
A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…
3D Gaussian Splatting (3DGS) has emerged as a state-of-the-art method for novel view synthesis. However, its performance heavily relies on dense, high-quality input imagery, an assumption that is often violated in real-world applications,…
Compared with previous 3D reconstruction methods like Nerf, recent Generalizable 3D Gaussian Splatting (G-3DGS) methods demonstrate impressive efficiency even in the sparse-view setting. However, the promising reconstruction performance of…
Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…
Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…
A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…
Natural human interactions for Mixed Reality Applications are overwhelmingly multimodal: humans communicate intent and instructions via a combination of visual, aural and gestural cues. However, supporting low-latency and accurate…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
High-speed off-road navigation requires long-range, high-resolution maps to enable robots to safely navigate over different surfaces while avoiding dangerous obstacles. However, due to limited computational power and sensing noise, most…
We propose a 3D novel sparse-view synthesis framework for unconstrained real-world scenarios that contain distractors. Unlike existing methods that primarily perform novel-view synthesis from a sparse set of constrained images without…
Current 6D object pose estimation methods usually require a 3D model for each object. These methods also require additional training in order to incorporate new objects. As a result, they are difficult to scale to a large number of objects…
Reconstructing dynamic 4D scenes is an important yet challenging task. While 3D foundation models like VGGT excel in static settings, they often struggle with dynamic sequences where motion causes significant geometric ambiguity. To address…
Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…
Establishing common ground between an intelligent robot and a human requires communication of the robot's intention, behavior, and knowledge to the human to build trust and assure safety in a shared environment. This paper introduces SENSAR…
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene representation for robotics, as it has the ability to represent…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…
Sparse 3D detectors have received significant attention since the query-based paradigm embraces low latency without explicit dense BEV feature construction. However, these detectors achieve worse performance than their dense counterparts.…