Related papers: Scanning Bot: Efficient Scan Planning using Panora…
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene…
Recent advances in radiance fields and novel view synthesis enable creation of realistic digital twins from photographs. However, current methods struggle with flat, texture-less surfaces, creating uneven and semi-transparent…
The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV's motion, and camera control inputs for the 3D…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
Scene analysis is essential for enabling autonomous systems, such as mobile robots, to operate in real-world environments. However, obtaining a comprehensive understanding of the scene requires solving multiple tasks, such as panoptic…
We propose a novel approach to reconstruct RGB-D indoor scene based on plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed from it, and generates a lightweight, low-polygonal mesh with clear…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
We introduce ScanBot, a novel dataset designed for instruction-conditioned, high-precision surface scanning in robotic systems. In contrast to existing robot learning datasets that focus on coarse tasks such as grasping, navigation, or…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…
This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…
Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this capability view planning, requiring (1)understanding how a single action transforms the view, and (2)composing many such transformations…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…