相关论文: Multi-Volume High Resolution RGB-D Mapping with Dy…

In preparation for observing holographic 3D content, acquiring a set of RGB color and depth map images per scene is necessary to generate computer-generated holograms (CGHs) when using the fast Fourier transform (FFT) algorithm. However, in…

We propose a novel approach to reconstruct RGB-D indoor scene based on plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed from it, and generates a lightweight, low-polygonal mesh with clear…

Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

In this work we propose a novel approach to remove undesired objects from RGB-D sequences captured with freely moving cameras, which enables static 3D reconstruction. Our method jointly uses existing information from multiple frames as well…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or implicit way they represent a scene. This work introduces…

Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…

Neural scene representations, such as Neural Radiance Fields (NeRF), are based on training a multilayer perceptron (MLP) using a set of color images with known poses. An increasing number of devices now produce RGB-D(color + depth)…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

Depth maps obtained by commercial depth sensors are always in low-resolution, making it difficult to be used in various computer vision tasks. Thus, depth map super-resolution (SR) is a practical and valuable task, which upscales the depth…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…

The rapid development in information technology has immensely contributed to the use of modern approaches for visualizing volumetric data. Consequently, medical volume visualization is increasingly attracting attention towards achieving an…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

We propose an image warping-based remote rendering technique for volumes that decouples the rendering and display phases. Our work builds on prior work that samples the volume on the client using ray casting and reconstructs a z-value based…

The exploration of unknown environments using robots is a task that integrates different areas such as location, mapping, and planning. For mapping, there are numerous methods to represent the environments through which a robot can travel,…

While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…

Medical images such as 3D computerized tomography (CT) scans and pathology images, have hundreds of millions or billions of voxels/pixels. It is infeasible to train CNN models directly on such high resolution images, because neural…