Related papers: On-the-fly Feedback SfM: Online Explore-and-Exploi…
We propose a framework that extends Blender to exploit Structure from Motion (SfM) and Multi-View Stereo (MVS) techniques for image-based modeling tasks such as sculpting or camera and motion tracking. Applying SfM allows us to determine…
Fine-grained sketch-based image retrieval (FG-SBIR) addresses the problem of retrieving a particular photo instance given a user's query sketch. Its widespread applicability is however hindered by the fact that drawing a sketch takes time,…
This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…
This study introduces a novel On-the-Fly Guidance (OFG) training framework for enhancing existing learning-based image registration models, addressing the limitations of weakly-supervised and unsupervised methods. Weakly-supervised methods…
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…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Existing Mamba-based approaches in remote sensing change detection have enhanced scanning models, yet remain limited by their inability to capture long-range dependencies between image channels effectively, which restricts their feature…
Surface reconstruction and novel view rendering from sparse-view images are challenging. Signed Distance Function (SDF)-based methods struggle with fine details, while 3D Gaussian Splatting (3DGS)-based approaches lack global geometry…
High-speed flight vehicles, which travel much faster than the speed of sound, are crucial for national defense and space exploration. However, accurately predicting their behavior under numerous, varied flight conditions is a challenge and…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
Active 3D measurement, especially structured light (SL) has been widely used in various fields for its robustness against textureless or equivalent surfaces by low light illumination. In addition, reconstruction of large scenes by moving…
Structure-from-Motion (SfM) is a fundamental technique for recovering camera poses and scene structure from multi-view imagery, serving as a critical upstream component for applications ranging from 3D reconstruction to modern neural scene…
Course estimation is a key component for the development of autonomous navigation systems for robots. While state-of-the-art methods widely use visual-based algorithms, it is worth noting that they all fail to deal with the complexity of…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
While internet-scale image and textual data have enabled strong generalization in Vision-Language Models (VLMs), the absence of internet-scale control data has impeded the development of similar generalization in standard reinforcement…
Efficient scene representations are essential for many real-world applications, especially those involving spatial measurement. Although current NeRF-based methods have achieved impressive results in reconstructing building-scale scenes,…
Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful human priors, limiting practicality, efficiency, and…