Related papers: High-fidelity 3D reconstruction for planetary expl…
We propose a novel explicit dense 3D reconstruction approach that processes a set of images of a scene with sensor poses and calibrations and estimates a photo-real digital model. One of the key innovations is that the underlying volumetric…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
This work presents a novel pipeline to recover the 3D structure of an unknown target spacecraft from a sequence of images captured during Rendezvous and Proximity Operations (RPO) in space. The target's geometry and appearance are…
Simultaneously odometry and mapping using LiDAR data is an important task for mobile systems to achieve full autonomy in large-scale environments. However, most existing LiDAR-based methods prioritize tracking quality over reconstruction…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…
We address the estimation of the 6D pose of an unknown target spacecraft relative to a monocular camera, a key step towards the autonomous rendezvous and proximity operations required by future Active Debris Removal missions. We present a…
In the realm of autonomous driving, achieving precise 3D reconstruction of the driving environment is critical for ensuring safety and effective navigation. Neural Radiance Fields (NeRF) have shown promise in creating highly detailed and…
Neural Radiance Fields, or NeRFs, have drastically improved novel view synthesis and 3D reconstruction for rendering. NeRFs achieve impressive results on object-centric reconstructions, but the quality of novel view synthesis with…
We leverage repetitive elements in 3D scenes to improve novel view synthesis. Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have greatly improved novel view synthesis but renderings of unseen and occluded parts remain…
In the rapidly evolving landscape of digital content creation, the demand for fast, convenient, and autonomous methods of crafting detailed 3D reconstructions of humans has grown significantly. Addressing this pressing need, our AirNeRF…
Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage…
Recent years have witnessed substantial advancements in the field of 3D reconstruction from 2D images, particularly following the introduction of the neural radiance field (NeRF) technique. However, reconstructing a 3D high dynamic range…
Image data captured outdoors often exhibit unbounded scenes and unconstrained, varying lighting conditions, making it challenging to decompose them into geometry, reflectance, and illumination. Recent works have focused on achieving this…
In this paper, we present a complete refractive Structure-from-Motion (RSfM) framework for underwater 3D reconstruction using refractive camera setups (for both, flat- and dome-port underwater housings). Despite notable achievements in…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Autonomous inspection of infrastructure on land and in water is a quickly growing market, with applications including surveying constructions, monitoring plants, and tracking environmental changes in on- and off-shore wind energy farms. For…
Underwater imaging is a critical task performed by marine robots for a wide range of applications including aquaculture, marine infrastructure inspection, and environmental monitoring. However, water column effects, such as attenuation and…
Visual localization is a critical task in mobile robotics, and researchers are continuously developing new approaches to enhance its efficiency. In this article, we propose a novel approach to improve the accuracy of visual localization…
Neural fields have been broadly investigated as scene representations for the reproduction and novel generation of diverse outdoor scenes, including those autonomous vehicles and robots must handle. While successful approaches for RGB and…