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Atmospheric lidar observations provide a unique capability to directly observe the vertical column of cloud and aerosol scattering properties. Detector and solar background noise, however, hinder the ability of lidar systems to provide…
Long-range active imaging has widespread applications in remote sensing and target recognition. Single-photon light detection and ranging (lidar) has been shown to have high sensitivity and temporal resolution. On the application front,…
Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…
The ability to measure and record high-resolution depth images at long stand-off distances is important for a wide range of applications, including connected and automotive vehicles, defense and security, and agriculture and mining. In…
Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…
3D imaging is increasingly impacting areas such as space, defense, automation, medical and automotive industries. The most well-known optical 3D imaging systems are LIDAR systems that rely on Time of Flight (ToF) measurement. The depth…
Many human pose estimation methods estimate Skinned Multi-Person Linear (SMPL) models and regress the human joints from these SMPL estimates. In this work, we show that the most widely used SMPL-to-joint linear layer (joint regressor) is…
Existing methods for reconstructing objects and humans from a monocular image suffer from severe mesh collisions and performance limitations for interacting occluding objects. This paper introduces a method to obtain a globally consistent…
Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
Existing LiDAR-inertial-visual odometry and mapping (LIV-SLAM) systems mainly utilize the LiDAR-inertial odometry (LIO) module for structure reconstruction and the visual-inertial odometry (VIO) module for color rendering. However, the…
We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…
Light field imaging is limited in its computational processing demands of high sampling for both spatial and angular dimensions. Single-shot light field cameras sacrifice spatial resolution to sample angular viewpoints, typically by…
Robust face reconstruction from monocular image in general lighting conditions is challenging. Methods combining deep neural network encoders with differentiable rendering have opened up the path for very fast monocular reconstruction of…
Relighting a person from a single photo is an attractive but ill-posed task, as a 2D image ambiguously entangles 3D geometry, intrinsic appearance, and illumination. Current methods either use sequential pipelines that suffer from error…
In this paper, we present an algorithm for online 3D reconstruction of dynamic scenes using individual times of arrival (ToA) of photons recorded by single-photon detector arrays. One of the main challenges in 3D imaging using single-photon…
Plenoptic cameras offer a cost effective solution to capture light fields by multiplexing multiple views on a single image sensor. However, the high angular resolution is achieved at the expense of reducing the spatial resolution of each…
Neural Radiance Fields (NeRF) have achieved impressive results in 3D reconstruction and novel view generation. A significant challenge within NeRF involves editing reconstructed 3D scenes, such as object removal, which demands consistency…
Light detection and ranging (LiDAR) has been widely used in autonomous driving and large-scale manufacturing. Although state-of-the-art scanning LiDAR can perform long-range three-dimensional imaging, the frame rate is limited by both…
Single-photon LiDAR (SP-LiDAR) simulators face a dilemma: fast but inaccurate Poisson models or accurate but prohibitively slow sequential models. This paper breaks that compromise. We present a simulator that achieves both fidelity and…