Related papers: Glider Path Design and Control for Reconstructing …
Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor…
We study the sub-grid scale characteristics of a vorticity-transport-based approach for large-eddy simulations. In particular, we consider a multi-dimensional upwind scheme for the vorticity transport equations and establish its properties…
This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…
Underwater gliders are widely utilized for ocean sampling, surveillance, and other various oceanic applications. In the context of complex ocean environments, gliders may yield poor navigation performance due to strong ocean currents, thus…
Trajectory tracking for microswimmers remains a key challenge in microrobotics, where low-Reynolds-number dynamics make control design particularly complex. In this work, we formulate the trajectory tracking problem as an optimal control…
This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a…
Underwater 3D scene reconstruction is crucial for multimedia applications in adverse environments, such as underwater robotic perception and navigation. However, the complexity of interactions between light propagation, water medium, and…
Direct numerical simulation (DNS) of turbulent flows is computationally expensive and cannot be applied to flows with large Reynolds numbers. Large eddy simulation (LES) is an alternative that is computationally less demanding, but is…
A learning-based 3D reconstruction method for long-span bridges is proposed in this paper. 3D reconstruction generates a 3D computer model of a real object or scene from images, it involves many stages and open problems. Existing…
The problem of 3D reconstruction from posed images is undergoing a fundamental transformation, driven by continuous advances in 3D Gaussian Splatting (3DGS). By modeling scenes explicitly as collections of 3D Gaussians, 3DGS enables…
Reconstructing complex structures from planar cross-sections is a challenging problem, with wide-reaching applications in medical imaging, manufacturing, and topography. Out-of-the-box point cloud reconstruction methods can often fail due…
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…
Accurate digital twins of industrial assets, such as ships and offshore platforms, rely on the precise reconstruction of complex pipe networks. However, manual modelling of pipes from laser scan data is a time-consuming and labor-intensive…
Reconstructing transparent surfaces is essential for tasks such as robotic manipulation in labs, yet it poses a significant challenge for 3D reconstruction techniques like 3D Gaussian Splatting (3DGS). These methods often encounter a…
We present a reconstruction of jet geometry models using numerical methods based on a Markov ChainMonte Carlo (MCMC) and limited memory Broyden-Fletcher-Goldfarb-Shanno (BFGS) optimized algorithm. Our aim is to model the three-dimensional…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled efficient free-viewpoint rendering and photorealistic scene reconstruction. While on-the-fly extensions of 3DGS have shown promise for real-time reconstruction from monocular RGB…
Accurate 3D reconstruction in degraded imaging conditions remains a key challenge in photogrammetry and neural rendering. In underwater environments, spatially varying visibility caused by scattering, attenuation, and sparse observations…
Mesoscale eddies play a significant role in marine energy transport, marine biological environment and marine climate. Due to their huge impact on the ocean, mesoscale eddy detection has become a hot research area in recent years.…
Underwater 3D reconstruction and appearance restoration are hindered by the complex optical properties of water, such as wavelength-dependent attenuation and scattering. Existing Neural Radiance Fields (NeRF)-based methods struggle with…
Oceanic eddy kinetic energy (EKE) is a key quantity for measuring the intensity of mesoscale eddies and for parameterizing eddy effects in ocean climate models. Three decades of satellite altimetry observations allow a global assessment of…