Related papers: OASIS: Real-Time Opti-Acoustic Sensing for Interve…
Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for…
Extensive monitoring of acoustic activities is important for many fields, including biology, security, oceanography, and Earth science. Distributed acoustic sensing (DAS) is an evolving technique for continuous, wide-coverage measurements…
We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…
Generating high-fidelity full-body human interactions with dynamic objects and static scenes remains a critical challenge in computer graphics and animation. Existing methods for human-object interaction often neglect scene context, leading…
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, often struggle to achieve the real-time inference frequency…
Coded aperture snapshot spectral imaging (CASSI) is a promising technique to capture the three-dimensional hyperspectral image (HSI) using a single coded two-dimensional (2D) measurement, in which algorithms are used to perform the inverse…
The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance…
Recent advancements in 3D reconstruction technologies have paved the way for high-quality and real-time rendering of complex 3D scenes. Despite these achievements, a notable challenge persists: it is difficult to precisely reconstruct…
Accurate 3D reconstruction in degraded imaging conditions remains a key challenge in photogrammetry and neural rendering. In underwater environments, spatially varying visibility caused by scattering, attenuation, and sparse observations…
This Letter presents a novel hybrid underwater wireless optical communication (UWOC) system that integrates underwater optical access points (UOAPs) with a passive optical network (PON)-based fiber-optic backhaul to provide a resilient…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
In underwater images, most useful features are occluded by water. The extent of the occlusion depends on imaging geometry and can vary even across a sequence of burst images. As a result, 3D reconstruction methods robust on in-air scenes,…
The underwater world remains largely unexplored, with Autonomous Underwater Vehicles (AUVs) playing a crucial role in sub-sea explorations. However, continuous monitoring of underwater environments using AUVs can generate a significant…
We introduce SeaSplat, a method to enable real-time rendering of underwater scenes leveraging recent advances in 3D radiance fields. Underwater scenes are challenging visual environments, as rendering through a medium such as water…
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…
We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level…
On-orbit inspection imagery is crucial as it enables characterization of non-cooperative resident space objects, providing the geometry and structural condition essential for active debris removal and on-orbit servicing mission planning.…
We present a technique for dense 3D reconstruction of objects using an imaging sonar, also known as forward-looking sonar (FLS). Compared to previous methods that model the scene geometry as point clouds or volumetric grids, we represent…
Reliable human-robot communication is essential for underwater human-robot interaction (U-HRI), yet traditional methods such as acoustic signaling and predefined gesture-based models suffer from limitations in adaptability and robustness.…
A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…