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Benefiting from the spatial cues embedded in depth images, recent progress on RGB-D saliency detection shows impressive ability on some challenge scenarios. However, there are still two limitations. One hand is that the pooling and…
Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric…
Estimating surface reflectance (BRDF) is one key component for complete 3D scene capture, with wide applications in virtual reality, augmented reality, and human computer interaction. Prior work is either limited to controlled environments…
SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…
Color-guided depth map super-resolution (CDSR) improve the spatial resolution of a low-quality depth map with the corresponding high-quality color map, benefiting various applications such as 3D reconstruction, virtual reality, and…
Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
The perception of transparent objects for grasp and manipulation remains a major challenge, because existing robotic grasp methods which heavily rely on depth maps are not suitable for transparent objects due to their unique visual…
The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…
Optical flow is typically estimated by minimizing a "data cost" and an optional regularizer. While there has been much work on different regularizers many modern algorithms still use a data cost that is not very different from the ones used…
High-Sfrequency (HF) ray tracing in the complex ionospheric medium generally faces a fundamental trade-off between path accuracy and computational efficiency. This paper presents a high-fidelity Ray Tracing Method (RTM) synergistically…
Real-time 3D reconstruction is a fundamental task in computer graphics. Recently, differentiable-rendering-based SLAM system has demonstrated significant potential, enabling photorealistic scene rendering through learnable scene…
Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…
Multiresolution image fusion is a key problem for real-time satellite imaging and plays a central role in detecting and monitoring natural phenomena such as floods. It aims to solve the trade-off between temporal and spatial resolution in…
Image-based 3D reconstruction offers a low-cost alternative to traditional sensor-based techniques for road surface assessment. This study compares four reconstruction pipelines--COLMAP, Meshroom, Metashape, and 3D Gaussian Splatting…
Deep neural networks designed for vision tasks are often prone to failure when they encounter environmental conditions not covered by the training data. Single-modal strategies are insufficient when the sensor fails to acquire information…
Existing depth sensors are imperfect and may provide inaccurate depth values in challenging scenarios, such as in the presence of transparent or reflective objects. In this work, we present a general framework that leverages polarization…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…
This paper presents a vision-based methodology which makes use of a stereo camera rig and a one dimension LiDAR to estimate free obstacle areas for quadrotor navigation. The presented approach fuses information provided by a depth map from…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines…