Related papers: Coverage-Recon: Coordinated Multi-Drone Image Samp…
We present UrbanScene3D, a large-scale data platform for research of urban scene perception and reconstruction. UrbanScene3D contains over 128k high-resolution images covering 16 scenes including large-scale real urban regions and synthetic…
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…
Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…
We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…
We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Viewpoint missing of objects is common in scene reconstruction, as camera paths typically prioritize capturing the overall scene structure rather than individual objects. This makes it highly challenging to achieve high-fidelity…
In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…
Multi-view 3D reconstruction applications are revolutionizing critical use cases that require rapid situational-awareness, such as emergency response, tactical scenarios, and public safety. In many cases, their near-real-time latency…
This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
A key question in the problem of 3D reconstruction is how to train a machine or a robot to model 3D objects. Many tasks like navigation in real-time systems such as autonomous vehicles directly depend on this problem. These systems usually…
Super-resolution reconstruction techniques entail the utilization of software algorithms to transform one or more sets of low-resolution images captured from the same scene into high-resolution images. In recent years, considerable…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
Compared with conventional offline UAV photogrammetry, real-time UAV photogrammetry is essential for time-critical geospatial applications such as disaster response and active digital-twin maintenance. However, most existing methods focus…
Estimating the 3D pose of a drone is important for anti-drone systems, but existing methods struggle with the unique challenges of drone keypoint detection. Drone propellers serve as keypoints but are difficult to detect due to their high…
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…
Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
This paper proposes Drone Squadron Optimization, a new self-adaptive metaheuristic for global numerical optimization which is updated online by a hyper-heuristic. DSO is an artifact-inspired technique, as opposed to many algorithms used…