Related papers: OASIS: Real-Time Opti-Acoustic Sensing for Interve…
Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…
The proliferation of spectroscopic data across various scientific and engineering fields necessitates automated processing. We introduce OASIS (Omni-purpose Analysis of Spectra via Intelligent Systems), a machine learning (ML) framework for…
Medical image segmentation is a fundamental task in medical image analysis. Despite that deep convolutional neural networks have gained stellar performance in this challenging task, they typically rely on large labeled datasets, which have…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
Mapping and scene representation are fundamental to reliable planning and navigation in mobile robots. While purely geometric maps using voxel grids allow for general navigation, obtaining up-to-date spatial and semantically rich…
3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…
Open-vocabulary 3D object detection has gained significant interest due to its critical applications in autonomous driving and embodied AI. Existing detection methods, whether offline or online, typically rely on dense point cloud…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
Panoramic images can broaden the Field of View (FoV), occlusion-aware prediction can deepen the understanding of the scene, and domain adaptation can transfer across viewing domains. In this work, we introduce a novel task, Occlusion-Aware…
White Light Interferometry (WLI) is a precise optical tool for measuring the 3D topography of microstructures. However, conventional WLI cannot capture the natural color of a sample's surface, which is essential for many microscale research…
We introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…
Diffusion models have recently shown promising results for video super-resolution (VSR). However, directly adapting generative diffusion models to VSR can result in redundancy, since low-quality videos already preserve substantial content…
With the development of coastal construction, a large amount of human-generated waste, particularly plastic debris, is continuously entering the ocean, posing a severe threat to marine ecosystems. The key to effectively addressing plastic…
Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…
We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
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…
Representing underwater 3D scenes is a valuable yet complex task, as attenuation and scattering effects during underwater imaging significantly couple the information of the objects and the water. This coupling presents a significant…