相关论文: De-noising, Stabilizing and Completing 3D Reconstr…
Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as…
Automatic methods for reconstructing buildings from airborne LiDAR point clouds focus on producing accurate 3D models in a fast and scalable manner, but they overlook the problem of delivering simple and regularized models to practitioners.…
Piece-wise planar 3D reconstruction simultaneously segments plane instances and recovers their 3D plane parameters from an image, which is particularly useful for indoor or man-made environments. Efficient reconstruction of 3D planes…
Reconstructing complex structures from planar cross-sections is a challenging problem, with wide-reaching applications in medical imaging, manufacturing, and topography. Out-of-the-box point cloud reconstruction methods can often fail due…
This paper addresses the challenge of reconstructing 3D indoor scenes from multi-view images. Many previous works have shown impressive reconstruction results on textured objects, but they still have difficulty in handling low-textured…
3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…
Representing 3D objects and scenes with neural radiance fields has become very popular over the last years. Recently, surface-based representations have been proposed, that allow to reconstruct 3D objects from simple photographs. However,…
Near-field multiple-input multiple-output (MIMO) radar imaging systems have recently gained significant attention. In this paper, we develop novel non-iterative deep learning-based reconstruction methods for real-time near-field MIMO…
The advances in 3D reconstruction technology, such as photogrammetry and LiDAR scanning, have made it easier to reconstruct accurate and detailed 3D models for urban scenes. Nevertheless, these reconstructed models often contain a large…
The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents to detect changes amongst maps of different sessions so as…
Neural implicit surface reconstruction using volume rendering techniques has recently achieved significant advancements in creating high-fidelity surfaces from multiple 2D images. However, current methods primarily target scenes with…
We introduce a continuous global optimization method to the field of surface reconstruction from discrete noisy cloud of points with weak information on orientation. The proposed method uses an energy functional combining flux-based…
Given only a set of images, neural implicit surface representation has shown its capability in 3D surface reconstruction. However, as the nature of per-scene optimization is based on the volumetric rendering of color, previous neural…
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…
Three-dimensional Gaussian Splatting (3DGS) has recently emerged as an efficient representation for novel-view synthesis, achieving impressive visual quality. However, in scenes dominated by large and low-texture regions, common in indoor…
Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties.…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
Recent advances in radiance fields and novel view synthesis enable creation of realistic digital twins from photographs. However, current methods struggle with flat, texture-less surfaces, creating uneven and semi-transparent…
We present a method that accelerates reconstruction of 3D scenes and objects, aiming to enable instant reconstruction on edge devices such as mobile phones and AR/VR headsets. While recent works have accelerated scene reconstruction…