Related papers: Dynamic-ICP: Doppler-Aware Iterative Closest Point…
Particle Image Velocimetry (PIV) is a widely adopted non-invasive imaging technique that tracks the motion of tracer particles across image sequences to capture the velocity distribution of fluid flows. It is commonly employed to analyze…
Automatic registration of multimodal remote sensing data (e.g., optical, LiDAR, SAR) is a challenging task due to the significant non-linear radiometric differences between these data. To address this problem, this paper proposes a novel…
Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed specifically for fusing LiDAR odometry in multisensor systems,…
We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…
Comprehensive understanding of dynamic scenes is a critical prerequisite for intelligent robots to autonomously operate in their environment. Research in this domain, which encompasses diverse perception problems, has primarily been focused…
Deformable image registration estimates voxel-wise correspondences between images through spatial transformations, and plays a key role in medical imaging. While deep learning methods have significantly reduced runtime, efficiently handling…
Intensity-based image registration approaches rely on similarity measures to guide the search for geometric correspondences with high affinity between images. The properties of the used measure are vital for the robustness and accuracy of…
We present a novel recursive Bayesian estimation framework using B-splines for continuous-time 6-DoF dynamic motion estimation. The state vector consists of a recurrent set of position control points and orientation control point…
Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…
Deformable registration consists of finding the best dense correspondence between two different images. Many algorithms have been published, but the clinical application was made difficult by the high calculation time needed to solve the…
Direct collocation is a widely used method for solving dynamic optimization problems (DOPs), but its implementation simplicity and computational efficiency are limited for challenging problems like those involving singular arcs. In this…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
The ICP registration algorithm has been a preferred method for LiDAR-based robot localization for nearly a decade. However, even in modern SLAM solutions, ICP can degrade and become unreliable in geometrically ill-conditioned environments.…
The accurate reconstruction of dynamic scenes with neural radiance fields is significantly dependent on the estimation of camera poses. Widely used structure-from-motion pipelines encounter difficulties in accurately tracking the camera…
It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of…
Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the…
Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…
Imaging through scattering media is a useful and yet demanding task since it involves solving for an inverse mapping from speckle images to object images. It becomes even more challenging when the scattering medium undergoes dynamic…
In this paper we present a semi-automatic 2D-3D local registration pipeline capable of coloring 3D models obtained from 3D scanners by using uncalibrated images. The proposed pipeline exploits the Structure from Motion (SfM) technique in…