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Operating rooms (ORs) are cluttered, dynamic, highly occluded environments, where reliable spatial understanding is essential for situational awareness during complex surgical workflows. Achieving spatial understanding for panoptic…
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…
We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…
Vision-based object tracking is an essential precursor to performing autonomous aerial navigation in order to avoid obstacles. Biologically inspired neuromorphic event cameras are emerging as a powerful alternative to frame-based cameras,…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
We develop a scannerless non-line-of-sight three dimensional imaging system based on a commercial 32x32 SPAD camera combined with a 70 ps pulsed laser. In our experiment, 1024 time histograms can be achieved synchronously in 3s with an…
This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…
Capturing and reconstructing a human actor's motion is important for filmmaking and gaming. Currently, motion capture systems with static cameras are used for pixel-level high-fidelity reconstructions. Such setups are costly, require…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
The challenge of generating reliable local plans has long hindered practical applications in highly cluttered and dynamic environments. Key fundamental bottlenecks include acquiring large-scale expert demonstrations across diverse scenes…
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
3D reconstruction is a technique used in computer vision which has a wide range of applications in areas like object recognition, city modelling, virtual reality, physical simulations, video games and special effects. Previously, to perform…
Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…
In this work, we present the recursive camera-painting approach to obtain painterly smudging in real-time rendering applications. We have implemented recursive camera painting as both a GPU-based ray-tracing and in a Virtual Reality game…
Understanding 3D scenes from a single image is fundamental to a wide variety of tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric…
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…