Related papers: Glider Path Design and Control for Reconstructing …
This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region…
We investigate the reconstruction of a turbulent flow field in the atmospheric boundary layer from a time series of lidar measurements, using Large-Eddy Simulations (LES) and a 4D-Var data assimilation algorithm. This leads to an…
Reconstructing transparent objects using affordable RGB-D cameras is a persistent challenge in robotic perception due to inconsistent appearances across views in the RGB domain and inaccurate depth readings in each single-view. We introduce…
In 3D reconstruction of underwater scenes, traditional methods based on atmospheric optical models cannot effectively deal with the selective attenuation of light wavelengths and the effect of suspended particle scattering, which are unique…
This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency…
Underwater image degradation poses significant challenges for 3D reconstruction, where simplified physical models often fail in complex scenes. We propose \textbf{R-Splatting}, a unified framework that bridges underwater image restoration…
Simulating turbulence is critical for many societally important applications in aerospace engineering, environmental science, the energy industry, and biomedicine. Large eddy simulation (LES) has been widely used as an alternative to direct…
This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…
A previously developed modeling procedure for large eddy simulations (LESs) is extended to allow physical space implementations for inhomogeneous flows. The method is inspired by the well-established theoretical analyses and numerical…
Three-dimensional scene reconstruction from sparse-view satellite images is a long-standing and challenging task. While 3D Gaussian Splatting (3DGS) and its variants have recently attracted attention for its high efficiency, existing…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Reconstruction of geometry based on different input modes, such as images or point clouds, has been instrumental in the development of computer aided design and computer graphics. Optimal implementations of these applications have…
We report the first high-order eddy-resolving simulation of flow over a marine propeller using a recently developed high-order sliding-mesh method. This method employs the flux reconstruction framework and a new dynamic curved mortar…
A novel approach for creating tool paths for continuous carbon fiber-reinforced thermoplastic 3D printing is introduced. The aim is to enable load-bearing connections while avoiding non-manufacturable crossings of paths by generating layer…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…
Accurately reconstructing the 3D structure of tornadoes is critically important for understanding and preparing for this highly destructive weather phenomenon. While modern 3D scene reconstruction techniques, such as 3D Gaussian splatting…
Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent ability in small-scale 3D surface reconstruction. However, extending 3DGS to large-scale scenes remains a significant challenge. To address this gap, we propose a novel…
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…
Novel view synthesis from sparse-view inputs poses a significant challenge in 3D computer vision, particularly for achieving high-quality scene reconstructions with limited viewpoints. We introduce TWINGS, a framework that enhances 3D…