Related papers: An Accelerated Camera 3DMA Framework for Efficient…

Recently, Gaussian Splatting (GS) has shown great potential for urban scene reconstruction in the field of autonomous driving. However, current urban scene reconstruction methods often depend on multimodal sensors as inputs, \textit{i.e.}…

We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in…

Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…

With the advancement of computer vision, the recently emerged 3D Gaussian Splatting (3DGS) has increasingly become a popular scene reconstruction algorithm due to its outstanding performance. Distributed 3DGS can efficiently utilize edge…

Dynamic scene rendering and reconstruction play a crucial role in computer vision and augmented reality. Recent methods based on 3D Gaussian Splatting (3DGS), have enabled accurate modeling of dynamic urban scenes, but for urban scenes they…

We present a modern solution to the multi-view photometric stereo problem (MVPS). Our work suitably exploits the image formation model in a MVPS experimental setup to recover the dense 3D reconstruction of an object from images. We procure…

Recent advancements in multi-view 3D reconstruction and novel-view synthesis, particularly through Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have greatly enhanced the fidelity and efficiency of 3D content creation.…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Achieving high-quality High Dynamic Range (HDR) imaging on resource-constrained edge devices is a critical challenge in computer vision, as its performance directly impacts downstream tasks such as intelligent surveillance and autonomous…

We present a study of how to integrate color (RGB) and multi-spectral imagery (red, green, red-edge, and near-infrared) into the 3D Gaussian Splatting (3DGS) framework, a state-of-the-art explicit radiance-field-based method for fast and…

While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging…

Road surface reconstruction is essential for autonomous driving, supporting centimeter-accurate lane perception and high-definition mapping in complex urban environments.While recent methods based on mesh rendering or 3D Gaussian splatting…

Rooftop 3D reconstruction using UAV-based photogrammetry offers a promising solution for infrastructure assessment, but existing methods often require high percentages of image overlap and extended flight times to ensure model accuracy when…

In this paper, we study the problem of continuous 3D shape representations. The majority of existing successful methods are coordinate-based implicit neural representations. However, they are inefficient to render novel views or recover…

Structure from Motion (SfM) estimates camera poses and reconstructs point clouds, forming a foundation for various tasks. However, applying SfM to driving scenes captured by multi-camera systems presents significant difficulties, including…

Reconstructing dynamic 3D scenes with photorealistic detail and strong temporal coherence remains a significant challenge. Existing Gaussian splatting approaches for dynamic scene modeling often rely on per-frame optimization, which can…

Simultaneously localizing camera poses and constructing Gaussian radiance fields in dynamic scenes establish a crucial bridge between 2D images and the 4D real world. Instead of removing dynamic objects as distractors and reconstructing…

3D Gaussian Splatting (3DGS) has emerged as a key rendering pipeline for digital asset creation due to its balance between efficiency and visual quality. To address the issues of unstable pose estimation and scene representation distortion…

Current methods for 3D scene reconstruction from sparse posed images employ intermediate 3D representations such as neural fields, voxel grids, or 3D Gaussians, to achieve multi-view consistent scene appearance and geometry. In this paper…

We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…