相关论文: DENSER Cities: A System for Dense Efficient Recons…

Our ability to understand data has always lagged behind our ability to collect it. This is particularly true in urban environments, where mass data capture is particularly valuable, but the objects captured are more varied, denser, and…

Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact. However, city-scale continual implicit dense mapping based on sparse LiDAR input is still…

Mask-based lensless imagers are smaller and lighter than traditional lensed cameras. In these imagers, the sensor does not directly record an image of the scene; rather, a computational algorithm reconstructs it. Typically, mask-based…

Data-driven approaches recently achieved remarkable success in magnetic resonance imaging (MRI) reconstruction, but integration into clinical routine remains challenging due to a lack of generalizability and interpretability. In this paper,…

In a wide range of robotic applications, being able to create a 3D model of the surrounding environment is a key feature for autonomous tasks. In this research report, we present a statistical model to perform 3D reconstructions of the…

Modern digital cameras rely on the sequential execution of separate image processing steps to produce realistic images. The first two steps are usually related to denoising and demosaicking where the former aims to reduce noise from the…

With the increasing demands of applications in virtual reality such as 3D films, virtual Human-Machine Interactions and virtual agents, the analysis of 3D human face analysis is considered to be more and more important as a fundamental step…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

Synthesizing accurate geometry and photo-realistic appearance of small scenes is an active area of research with compelling use cases in gaming, virtual reality, robotic-manipulation, autonomous driving, convenient product capture, and…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

Having good knowledge of terrain information is essential for improving the performance of various downstream tasks on complex terrains, especially for the locomotion and navigation of legged robots. We present a novel framework for neural…

We propose an approach for dense semantic 3D reconstruction which uses a data term that is defined as potentials over viewing rays, combined with continuous surface area penalization. Our formulation is a convex relaxation which we augment…

Array synthetic aperture radar (Array-SAR), also known as tomographic SAR (TomoSAR), has demonstrated significant potential for high-quality 3D mapping, particularly in urban areas.While deep learning (DL) methods have recently shown…

Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…

Single-photon light detection and ranging (lidar) captures depth and intensity information of a 3D scene. Reconstructing a scene from observed photons is a challenging task due to spurious detections associated with background illumination…

There remains an important need for the development of image reconstruction methods that can produce diagnostically useful images from undersampled measurements. In magnetic resonance imaging (MRI), for example, such methods can facilitate…

Modern optical satellite sensors enable high-resolution stereo reconstruction from space. But the challenging imaging conditions when observing the Earth from space push stereo matching to its limits. In practice, the resulting digital…

SAR (Synthetic Aperture Radar) tomography reconstructs 3-D volumes from stacks of SAR images. High-resolution satellites such as TerraSAR-X provide images that can be combined to produce 3-D models. In urban areas, sparsity priors are…

This paper tackles two key challenges: detecting small, dense, and overlapping objects (a major hurdle in computer vision) and improving the quality of noisy images, especially those encountered in industrial environments. [1, 2]. Our focus…

High-resolution optical satellite sensors, combined with dense stereo algorithms, have made it possible to reconstruct 3D city models from space. However, these models are, in practice, rather noisy and tend to miss small geometric features…