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Omnidirectional 3D information is essential for a wide range of applications such as Virtual Reality, Autonomous Driving, Robotics, etc. In this paper, we propose a novel, model-agnostic, two-stage pipeline for omnidirectional monocular…
We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…
We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…
We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realistic estimate in a computationally efficient manner suitable…
Monocular egocentric human pose estimation is essential for ubiquitous activity monitoring. However, understanding the user's absolute location within the environment remains a challenge. Existing methods primarily focus on relative motion…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
For tiny obstacle discovery in a monocular image, edge is a fundamental visual element. Nevertheless, because of various reasons, e.g., noise and similar color distribution with background, it is still difficult to detect the edges of tiny…
It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that…
Due to the fractal nature of the domain geometry in geophysical flow simulations, a completely accurate description of the domain in terms of a computational mesh is frequently deemed infeasible. Shoreline and bathymetry simplification…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Current self-supervised monocular depth estimation methods are mostly based on estimating a rigid-body motion representing camera motion. These methods suffer from the well-known scale ambiguity problem in their predictions. We propose…
Estimating the 6D pose of objects from a single RGB image is a critical task for robotics and extended reality applications. However, state-of-the-art multi stage methods often suffer from high latency, making them unsuitable for real time…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Reliable depth estimation from spherical images is crucial for 360{\deg} vision in robotic navigation and immersive scene understanding. However, the onboard spherical camera can experience unintentional pose variations in real-world…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…
In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…
In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…
Built environment auditing refers to the systematic documentation and assessment of urban and rural spaces' physical, social, and environmental characteristics, such as walkability, road conditions, and traffic lights. It is used to collect…
Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…