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Neural implicit surface reconstruction using volume rendering techniques has recently achieved significant advancements in creating high-fidelity surfaces from multiple 2D images. However, current methods primarily target scenes with…

Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

Boundary Representation (B-Rep) is the de facto representation of 3D solids in Computer-Aided Design (CAD). B-Rep solids are defined with a set of NURBS (Non-Uniform Rational B-Splines) surfaces forming a closed volume. To represent a…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Recently, 3D Gaussian Splatting (3DGS) has attracted widespread attention due to its high-quality rendering, and ultra-fast training and rendering speed. However, due to the unstructured and irregular nature of Gaussian point clouds, it is…

Recent advances in image acquisition and scene reconstruction have enabled the generation of high-quality structural urban scene geometry, given sufficient site information. However, current capture techniques often overlook the crucial…

Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…

Reconstructing real-world 3D objects has numerous applications in computer vision, such as virtual reality, video games, and animations. Ideally, 3D reconstruction methods should generate high-fidelity results with 3D consistency in…

Neural surface reconstruction (NSR) has recently shown strong potential for urban 3D reconstruction from multi-view aerial imagery. However, existing NSR methods often suffer from geometric ambiguity and instability, particularly under…

Road unevenness significantly impacts the safety and comfort of traffic participants, especially vulnerable groups such as cyclists and wheelchair users. To train models for comprehensive road surface assessments, we introduce…

Road surface is the sole contact medium for wheels or robot feet. Reconstructing road surface is crucial for unmanned vehicles and mobile robots. Recent studies on Neural Radiance Fields (NeRF) and Gaussian Splatting (GS) have achieved…

Reconstructing accurate 3D surfaces for street-view scenarios is crucial for applications such as digital entertainment and autonomous driving simulation. However, existing street-view datasets, including KITTI, Waymo, and nuScenes, only…

City-scale 3D reconstruction from satellite imagery presents the challenge of extreme viewpoint extrapolation, where our goal is to synthesize ground-level novel views from sparse orbital images with minimal parallax. This requires…

City-scale 3D surface reconstruction from multiview images for downstream 3D simulation, poses highly challenging problems due to the scale and complexity of urban scenes. Existing city-scale 3D reconstruction methods based on NeRF,…

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

3D scene reconstruction is a long-standing vision task. Existing approaches can be categorized into geometry-based and learning-based methods. The former leverages multi-view geometry but can face catastrophic failures due to the reliance…

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…

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where a robot is…