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Color-guided depth super-resolution (DSR) is an encouraging paradigm that enhances a low-resolution (LR) depth map guided by an extra high-resolution (HR) RGB image from the same scene. Existing methods usually use interpolation to upscale…
In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…
While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…
Finding corresponding pixels within a pair of images is a fundamental computer vision task with various applications. Due to the specific requirements of different tasks like optical flow estimation and local feature matching, previous…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous…
We present a bootstrap perception system for indoor robot navigation under hardware depth failure. In our corridor data, the time-of-flight camera loses up to 78% of its depth pixels on reflective surfaces, yet a 2D LiDAR alone cannot sense…
It is desirable to create 3D object models and 3D maps from 2D input images for applications such as navigation, virtual tourism, and urban planning. The traditional methods of creating 3D maps, (such as photogrammetry), require a large…
The two promising methods for capturing high-speed flows are local artificial diffusivity (LAD) and centralised gradient-based reconstruction (C-GBR), the former being computationally economical and the latter being more robust and stable…
We address the problem of glass surface segmentation with an RGB-D camera, with a focus on effectively fusing RGB and depth information. To this end, we propose a Weighted Feature Fusion (WFF) module that dynamically and adaptively combines…
Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…
Recent advances in depth sensing technologies allow fast electronic maneuvering of the laser beam, as opposed to fixed mechanical rotations. This will enable future sensors, in principle, to vary in real-time the sampling pattern. We…
RGB-NIR image registration plays an important role in sensor-fusion, image enhancement and off-road autonomy. In this work, we evaluate both classical and Deep Learning (DL) based image registration techniques to access their suitability…
This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments…
Reconstructing building floor plans from point cloud data is key for indoor navigation, BIM, and precise measurements. Traditional methods like geometric algorithms and Mask R-CNN-based deep learning often face issues with noise, limited…
Estimating a dense and accurate depth map is the key requirement for autonomous driving and robotics. Recent advances in deep learning have allowed depth estimation in full resolution from a single image. Despite this impressive result,…
High-speed off-road navigation requires long-range, high-resolution maps to enable robots to safely navigate over different surfaces while avoiding dangerous obstacles. However, due to limited computational power and sensing noise, most…