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Recent advancements in LiDAR-based 3D object detection have significantly accelerated progress toward the realization of fully autonomous driving in real-world environments. Despite achieving high detection performance, most of the…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…

Photometric stereo, a problem of recovering 3D surface normals using images of an object captured under different lightings, has been of great interest and importance in computer vision research. Despite the success of existing traditional…

Existing deep calibrated photometric stereo networks basically aggregate observations under different lights based on the pre-defined operations such as linear projection and max pooling. While they are effective with the dense capture,…

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…

In this work, we address the task of 3D reconstruction in dynamic scenes, where object motions frequently degrade the quality of previous 3D pointmap regression methods, such as DUSt3R, that are originally designed for static 3D scene…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

Dense 3D reconstruction and ego-motion estimation are key challenges in autonomous driving and robotics. Compared to the complex, multi-modal systems deployed today, multi-camera systems provide a simpler, low-cost alternative. However,…

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

NeRFs have achieved incredible success in novel view synthesis. However, the accuracy of the implicit geometry is unsatisfactory because the passive static environmental illumination has low spatial frequency and cannot provide enough…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…

Event cameras are a new type of sensors that are different from traditional cameras. Each pixel is triggered asynchronously by event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement…

This paper presents DENSER, an efficient and effective approach leveraging 3D Gaussian splatting (3DGS) for the reconstruction of dynamic urban environments. While several methods for photorealistic scene representations, both implicitly…

Obtaining dense 3D reconstrution with low computational cost is one of the important goals in the field of SLAM. In this paper we propose a dense 3D reconstruction framework from monocular multispectral video sequences using jointly…

A novel approach towards depth map super-resolution using multi-view uncalibrated photometric stereo is presented. Practically, an LED light source is attached to a commodity RGB-D sensor and is used to capture objects from multiple…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

Photometric Stereo methods seek to reconstruct the 3d shape of an object from motionless images obtained with varying illumination. Most existing methods solve a restricted problem where the physical reflectance model, such as Lambertian…