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Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…
Recently, reconstructing scenes from a single panoramic image using advanced 3D Gaussian Splatting (3DGS) techniques has attracted growing interest. Panoramic images offer a 360$\times$ 180 field of view (FoV), capturing the entire scene in…
Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…
Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…
This paper presents the use of panoramic 3D estimation in lighting simulation. Conventional lighting simulation necessitates detailed modeling as input, resulting in significant labor effort and time cost. The 3D layout estimation method…
Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a…
Building 3D scene graphs has recently emerged as a topic in scene representation for several embodied AI applications to represent the world in a structured and rich manner. With their increased use in solving downstream tasks (eg,…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…
State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…
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…
Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Existing galvanometer-based laser scanning systems are challenging to apply in multi-scale 3D reconstruction because of the difficulty in achieving a balance between high reconstruction accuracy and a wide reconstruction range. This paper…
To reconstruct spectral signals from multi-channel observations, in particular trichromatic RGBs, has recently emerged as a promising alternative to traditional scanning-based spectral imager. It has been proven that the reconstruction…
Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…
Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…