相关论文: C-blox: A Scalable and Consistent TSDF-based Dense…

Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS),…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

3D reconstruction is vital for applications in autonomous driving, virtual reality, augmented reality, and the metaverse. Recent advancements such as Neural Radiance Fields(NeRF) and 3D Gaussian Splatting (3DGS) have transformed the field,…

Flattening curved, wrinkled, and rotated document images captured by portable photographing devices, termed document image dewarping, has become an increasingly important task with the rise of digital economy and online working. Although…

This paper explores the design and development of a class of robust diver-following algorithms for autonomous underwater robots. By considering the operational challenges for underwater visual tracking in diverse real-world settings, we…

Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unlike prior approaches that rely on discretized ESDF grids with…

This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex…

We introduce a high throughput 3D scanning solution specifically designed to precisely measure cattle phenotypes. This scanner leverages an array of depth sensors, i.e. time-of-flight (Tof) sensors, each governed by dedicated embedded…

Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

Change detection plays a fundamental role in Earth observation for analyzing temporal iterations over time. However, recent studies have largely neglected the utilization of multimodal data that presents significant practical and technical…

Modern cameras with large apertures often suffer from a shallow depth of field, resulting in blurry images of objects outside the focal plane. This limitation is particularly problematic for fixed-focus cameras, such as those used in smart…

In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…