相关论文: {\mu}-MAR: Multiplane 3D Marker based Registration…
Array synthetic aperture radar (SAR) three-dimensional (3D) imaging can obtain 3D information of the target region, which is widely used in environmental monitoring and scattering information measurement. In recent years, with the…
Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors. Traditional localization approaches rely on high-definition (HD) maps, which consist…
Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…
We present a new multi-sensor dataset for multi-view 3D surface reconstruction. It includes registered RGB and depth data from sensors of different resolutions and modalities: smartphones, Intel RealSense, Microsoft Kinect, industrial…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
The recent development of online static map element (a.k.a. HD Map) construction algorithms has raised a vast demand for data with ground truth annotations. However, available public datasets currently cannot provide high-quality training…
Depth maps obtained from commercially available structured-light stereo based depth cameras, such as the Kinect, are easy to use but are affected by significant amounts of noise. This paper is devoted to a study of the intrinsic noise…
Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…
Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…
Recent advancements in 3D Gaussian Splatting (3D-GS) have revolutionized novel view synthesis, facilitating real-time, high-quality image rendering. However, in scenarios involving reflective surfaces, particularly mirrors, 3D-GS often…
The research in dense online 3D mapping is mostly focused on the geometrical accuracy and spatial extent of the reconstructions. Their color appearance is often neglected, leading to inconsistent colors and noticeable artifacts. We rectify…
We present a novel method to estimate the motion matrix between overlapping pairs of 3D views in the context of indoor scenes. We use the Manhattan world assumption to introduce lightweight geometric constraints under the form of planes…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…
This paper presents an inexpensive Augmented Reality (AR) application which is aimed to use with mobile devices. Our application is a marker based AR application, and it can be used by inexpensive three dimensional (3D) red-cyan glasses. In…
Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…