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Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…
The techniques for 3D indoor scene capturing are widely used, but the meshes produced leave much to be desired. In this paper, we propose "RoomDreamer", which leverages powerful natural language to synthesize a new room with a different…
Recovering point clouds involves the sequential process of sampling and restoration, yet existing methods struggle to effectively leverage both topological and geometric attributes. To address this, we propose an end-to-end architecture…
4D reconstruction of human-object interaction is critical for immersive VR/AR experience and human activity understanding. Recent advances still fail to recover fine geometry and texture results from sparse RGB inputs, especially under…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
Accurate assessment of urban canopy coverage is crucial for informed urban planning, effective environmental monitoring, and mitigating the impacts of climate change. Traditional practices often face limitations due to inadequate technical…
Robust GNSS positioning in urban environments is still plagued by multipath effects, particularly due to the complex signal propagation induced by ubiquitous surfaces with varied radio frequency reflectivities. Current 3D Mapping Aided…
Path tracing offers high-fidelity rendering but remains impractical for real-time applications due to slow convergence and noise. We present a dynamic foveated path tracing technique that leverages visual perception by reducing sampling…
3DGS is an emerging and increasingly popular technology in the field of novel view synthesis. Its highly realistic rendering quality and real-time rendering capabilities make it promising for various applications. However, when applied to…
Recently, Gaussian Splatting (GS) has shown great potential for urban scene reconstruction in the field of autonomous driving. However, current urban scene reconstruction methods often depend on multimodal sensors as inputs, \textit{i.e.}…
Road surface reconstruction from aerial images is fundamental for autonomous driving, urban planning, and virtual simulation, where smoothness, compactness, and accuracy are critical quality factors. Existing reconstruction methods often…
Cross-view geo-localization aims to estimate the location of a query ground image by matching it to a reference geo-tagged aerial images database. As an extremely challenging task, its difficulties root in the drastic view changes and…
Texture characterization is a key problem in image understanding and pattern recognition. In this paper, we present a flexible shape-based texture representation using shape co-occurrence patterns. More precisely, texture images are first…
With the explosive growth of web-based cameras and mobile devices, billions of photographs are uploaded to the internet. We can trivially collect a huge number of photo streams for various goals, such as 3D scene reconstruction and other…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can…
Volume-based indoor scene reconstruction methods offer superior generalization capability and real-time deployment potential. However, existing methods rely on multi-view pixel back-projection ray intersections as weak geometric constraints…
We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…
Aerial images are often taken under poor lighting conditions and contain low resolution objects, many times occluded by other objects. In this domain, visual context could be of great help, but there are still very few papers that consider…