Related papers: G-EDF-Loc: 3D Continuous Gaussian Distance Field f…
Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from…
In this paper, we present a visual localization pipeline, namely MegLoc, for robust and accurate 6-DoF pose estimation under varying scenarios, including indoor and outdoor scenes, different time across a day, different seasons across a…
This paper introduces a novel method to estimate distance fields from noisy point clouds using Gaussian Process (GP) regression. Distance fields, or distance functions, gained popularity for applications like point cloud registration,…
This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…
Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
3D Gaussian Splatting has demonstrated remarkable real-time rendering capabilities and superior visual quality in novel view synthesis for static scenes. Building upon these advantages, researchers have progressively extended 3D Gaussians…
Advancements in 3D Gaussian Splatting have significantly accelerated 3D reconstruction and generation. However, it may require a large number of Gaussians, which creates a substantial memory footprint. This paper introduces GES (Generalized…
Signed Distance Fields (SDFs) are a fundamental representation in robot motion planning. Their configuration-space counterpart, the Configuration Space Distance Field (CDF), directly encodes distances in joint space, offering a unified…
We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…
This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e. the pose estimation of tridimensional objects given tactile measurements. This estimation problem is fundamental for the operation of autonomous robots that are often…
3D Gaussian Splatting (3DGS) has revolutionized 3D scene representation with superior efficiency and quality. While recent adaptations for computed tomography (CT) show promise, they struggle with severe artifacts under highly sparse-view…
Rich geometric understanding of the world is an important component of many robotic applications such as planning and manipulation. In this paper, we present a modular pipeline for pose and shape estimation of objects from RGB-D images…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
3D Gaussian Splatting (3DGS) has emerged as a leading technique for novel view synthesis, demonstrating exceptional rendering efficiency. \replaced[]{Well-reconstructed surfaces can be characterized by low configurational entropy, where…
We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based…
In this letter, we introduce the Log-Gaussian Process Implicit Surface (Log-GPIS), a novel continuous and probabilistic mapping representation suitable for surface reconstruction and local navigation. Our key contribution is the realisation…
Approximating wind flows using computational fluid dynamics (CFD) methods can be time-consuming. Creating a tool for interactively designing prototypes while observing the wind flow change requires simpler models to simulate faster. Instead…
Reconstructing open surfaces from multi-view images is vital in digitalizing complex objects in daily life. A widely used strategy is to learn unsigned distance functions (UDFs) by checking if their appearance conforms to the image…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…