Related papers: UAVFF3D: A Geometry-Aware Benchmark for Feed-Forwa…
Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…
Unmanned Aerial Vehicles (UAVs), equipped with cameras, are employed in numerous applications, including aerial photography, surveillance, and agriculture. In these applications, robust object detection and tracking are essential for the…
Small Unmanned Aerial Vehicles (UAVs) exhibit immense potential for navigating indoor and hard-to-reach areas, yet their significant constraints in payload and autonomy have largely prevented their use for complex tasks like high-quality…
Rooftop 3D reconstruction using UAV-based photogrammetry offers a promising solution for infrastructure assessment, but existing methods often require high percentages of image overlap and extended flight times to ensure model accuracy when…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Feed-forward foundation models for multi-view 3-dimensional (3D) reconstruction have been trained on large-scale datasets of perspective images; when tested on wide field-of-view images, e.g., from a fisheye camera, their performance…
Cross-view localization classically asks: where does this ground image lie on the satellite tile? Existing methods are typically limited to 3-DoF estimates -- an $(x,y)$ position and a yaw angle -- because nadir satellite imagery provides…
3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional…
Illumination inconsistency is a fundamental challenge in multi-view 3D reconstruction. Variations in sunlight direction, cloud cover, and shadows break the constant-lighting assumption underlying both classical multi-view stereo (MVS) and…
Recently, UAVs endowed with high mobility, low cost, and remote control have promoted the development of UAV-assisted real-time video/image acquisition applications, which have a high demand for both transmission rate and image resolution.…
Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…
In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…
Spectrum sensing and the generation of 3D Radio Environment Maps (REMs) are essential for enabling spectrum sharing within cognitive radio networks. While Uncrewed Aerial Vehicles (UAVs) offer high-mobility 3D sensing, REM accuracy is…
Current methods for 3D reconstruction and environmental mapping frequently face challenges in achieving high precision, highlighting the need for practical and effective solutions. In response to this issue, our study introduces FlyNeRF, a…
Dense 4D reconstruction from unposed images remains a critical challenge, with current methods relying on slow test-time optimization or fragmented, task-specific feedforward models. We introduce UFO-4D, a unified feedforward framework to…
We propose a feed-forward method for dense Signed Distance Field (SDF) regression from unstructured image collections in less than three seconds, without camera calibration or post-hoc fusion. Our key insight is that the intermediate…
Wide field-of-view (FOV) cameras, which capture a larger scene area than narrow FOV cameras, are used in many applications including 3D reconstruction, autonomous driving, and video surveillance. However, wide-angle images contain…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
Feed-forward visual geometry estimation has recently made rapid progress. However, an important gap remains: multi-frame models usually produce better cross-frame consistency, yet they often underperform strong per-frame methods on…