Related papers: Real-time Multi-Plane Segmentation Based on GPU Ac…
This paper presents a real-time 3D LiDAR mapping framework based on global matching cost minimization. The proposed method constructs a factor graph that directly minimizes matching costs between frames over the entire map, unlike pose…
Image segmentation plays an important role in computer vision, object detection, traffic control, and video surveillance. Typically, it is a critical step in the 3D reconstruction of a specific organ in medical image processing which…
Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…
Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…
Real-time 3D mapping is a critical component in many important applications today including robotics, AR/VR, and 3D visualization. 3D mapping involves continuously fusing depth maps obtained from depth sensors in phones, robots, and…
Recent advances in the area of plane segmentation from single RGB images show strong accuracy improvements and now allow a reliable segmentation of indoor scenes into planes. Nonetheless, fine-grained details of these segmentation masks are…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…
Optimal surface segmentation is a state-of-the-art method used for segmentation of multiple globally optimal surfaces in volumetric datasets. The method is widely used in numerous medical image segmentation applications. However, nodes in…
In this paper, we introduce the HexPlane representation for 3D semantic scene understanding. Specifically, we first design the View Projection Module (VPM) to project the 3D point cloud into six planes to maximally retain the original…
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties.…
For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously understand the higher level meaning…
Comprehending 3D environments is vital for intelligent systems in domains like robotics and autonomous navigation. Voxel grids offer a structured representation of 3D space, but extracting high-level semantic meaning remains challenging.…
Many materials show anisotropic light scattering patterns due to the shape and local alignment of their underlying micro structures: surfaces with small elements such as fibers, or the ridges of a brushed metal, are very sparse and require…
Direct optimization of interpolated features on multi-resolution voxel grids has emerged as a more efficient alternative to MLP-like modules. However, this approach is constrained by higher memory expenses and limited representation…
The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…
We propose an efficient and scalable method for incrementally building a dense, semantically annotated 3D map in real-time. The proposed method assigns class probabilities to each region, not each element (e.g., surfel and voxel), of the 3D…
While the voxel-based methods have achieved promising results for multi-person 3D pose estimation from multi-cameras, they suffer from heavy computation burdens, especially for large scenes. We present Faster VoxelPose to address the…