Related papers: ToF-Splatting: Dense SLAM using Sparse Time-of-Fli…

In this paper, a novel amplitude-modulated continuous wave (AMCW) time-of-flight (ToF) scanning sensor based on digital-parallel demodulation is proposed and demonstrated in the aspect of distance measurement precision. Since…

3D Gaussian Splatting has recently shown promising results as an alternative scene representation in SLAM systems to neural implicit representations. However, current methods either lack dense depth maps to supervise the mapping process or…

An indirect Pulse-based Time-of-Flight camera can be modelled as a linear sensing system in which the target's depth is recovered from few measurements through a sensing matrix formed by a set of demodulation functions. Each demodulation…

3D Gaussian Splatting has emerged as a powerful representation of geometry and appearance for RGB-only dense Simultaneous Localization and Mapping (SLAM), as it provides a compact dense map representation while enabling efficient and…

Time-of-flight (TOF) cameras are based on a new technology that delivers distance maps by the use of a modulated light source. In this paper we first describe a set of experiments that we performed with TOF cameras. We then propose a noise…

Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities since their data association usually relies on feature correspondences. Additionally, learning-based SLAM systems often fall short in terms of real-time…

We propose a novel compressed sensing method to improve the depth reconstruction accuracy and multi-target separation capability of indirect Time-of-Flight (iToF) systems. Unlike traditional approaches that rely on hardware modifications,…

Simultaneous Localization and Mapping (SLAM) is essential for precise surgical interventions and robotic tasks in minimally invasive procedures. While recent advancements in 3D Gaussian Splatting (3DGS) have improved SLAM with high-quality…

Time-of-flight (ToF) 3D imaging has a wealth of applications, from industrial inspection to movement tracking and gesture recognition. Depth information is recovered by measuring the round-trip flight time of laser pulses, which usually…

We introduce pulsed correlation time-of-flight (PC-ToF) sensing, a new operation mode for correlation time-of-flight range sensors that combines a sub-nanosecond laser pulse source with a rectangular demodulation at the sensor side. In…

This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation under varying camera configurations. Existing 3DGS-based SLAM…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

High frame rate and accurate depth estimation plays an important role in several tasks crucial to robotics and automotive perception. To date, this can be achieved through ToF and LiDAR devices for indoor and outdoor applications,…

Scene motion, multiple reflections, and sensor noise introduce artifacts in the depth reconstruction performed by time-of-flight cameras. We propose a two-stage, deep-learning approach to address all of these sources of artifacts…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

High-fidelity sensor simulation of light-based sensors such as cameras and LiDARs is critical for safe and accurate autonomy testing. Neural radiance field (NeRF)-based methods that reconstruct sensor observations via ray-casting of…

Real-time SLAM with dense 3D mapping is computationally challenging, especially on resource-limited devices. The recent development of 3D Gaussian Splatting (3DGS) offers a promising approach for real-time dense 3D reconstruction. However,…

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…

We propose SemGauss-SLAM, a dense semantic SLAM system utilizing 3D Gaussian representation, that enables accurate 3D semantic mapping, robust camera tracking, and high-quality rendering simultaneously. In this system, we incorporate…