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Unsupervised video semantic compression (UVSC), i.e., compressing videos to better support various analysis tasks, has recently garnered attention. However, the semantic richness of previous methods remains limited, due to the single…

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to…

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or…

In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in…

Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. Here, we propose a UAV system for…

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

We introduce a learning-based depth map fusion framework that accepts a set of depth and confidence maps generated by a Multi-View Stereo (MVS) algorithm as input and improves them. This is accomplished by integrating volumetric visibility…

Accurate localization is of crucial importance for autonomous driving tasks. Nowadays, we have seen a lot of sensor-rich vehicles (e.g. Robo-taxi) driving on the street autonomously, which rely on high-accurate sensors (e.g. Lidar and RTK…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…

Holistic 3D scene understanding, which jointly models geometry, appearance, and semantics, is crucial for applications like augmented reality and robotic interaction. Existing feed-forward 3D scene understanding methods (e.g., LSM) are…

Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation…

Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…

Semantic 3D mapping can be used for many applications such as robot navigation and virtual interaction. In recent years, there has been great progress in semantic segmentation and geometric 3D mapping. However, it is still challenging to…

We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market…