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The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…
Geometric distortion (GD) critically constrains the precision of astrometry. Using well-established methods to correct GD requires calibration observations, which can only be obtained using a special dithering strategy during the…
This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolution-varying sensor footprint. Ergodic planning offers a principled framework that balances exploration (visiting all areas) and…
Aiming at the problem that GNSS-RTK technology cannot effectively monitor landslides due to gross errors and high-frequency noise during landslide monitoring, a GNSS-RTK landslide monitoring system based on the improved Raida…
Accurate quantification of forest coverage and combustible biomass (fuel load) is critical for wildfire risk assessment and ecosystem management. However, traditional methods relying on airborne LiDAR or field surveys are cost-prohibitive…
In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first…
Reconstructing dynamic 3D scenes from sparse multi-view videos is highly ill-posed, often leading to geometric collapse, trajectory drift, and floating artifacts. Recent attempts introduce generative priors to hallucinate missing content,…
Global vegetation structure mapping is critical for understanding the global carbon cycle and maximizing the efficacy of nature-based carbon sequestration initiatives. Moreover, vegetation structure mapping can help reduce the impacts of…
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes…
Reliable parameter extraction from experimental data is central to quantitative analysis in spectroscopy, diffraction, photoluminescence, chromatography, microscopy, and time-resolved measurements. We present FitED, a Python-based desktop…
Recent 3D Gaussian Splatting (3DGS) representations have demonstrated remarkable performance in novel view synthesis; further, material-lighting disentanglement on 3DGS warrants relighting capabilities and its adaptability to broader…
Single-image 3D reconstruction with large reconstruction models (LRMs) has advanced rapidly, yet reconstructions often exhibit geometric inconsistencies and misaligned details that limit fidelity. We introduce GeoFusionLRM, a geometry-aware…
GNSS localization using everyday mobile devices is challenging in urban environments, as ranging errors caused by the complex propagation of satellite signals and low-quality onboard GNSS hardware are blamed for undermining positioning…
Reliable wall-to-wall biomass density estimation from NASA's GEDI mission requires interpolating sparse LIDAR observations across heterogeneous landscapes. While machine learning approaches like Random Forest and XGBoost are widely used,…
Vegetation structure mapping is critical for understanding the global carbon cycle and monitoring nature-based approaches to climate adaptation and mitigation. Repeated measurements of these data allow for the observation of deforestation…
Accurate Digital Surface Model (DSM) reconstruction from satellite imagery is critical for applications such as disaster response, urban planning, and large-scale geographic mapping. Existing approaches face a fundamental trade-off:…
Large-scale, high-resolution forest canopy height mapping plays a crucial role in understanding regional and global carbon and water cycles. Spaceborne LiDAR missions, including the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) and…
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 Gaussian Splatting (3DGS) is a technique to create high-quality, real-time 3D scenes from images. This method often produces visual artifacts known as floaters--nearly transparent, disconnected elements that drift in space away from the…