相关论文: Real-time 3D Reconstruction on Construction Site u…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…

Mixed reality (MR) is a key technology which promises to change the future of warfare. An MR hybrid of physical outdoor environments and virtual military training will enable engagements with long distance enemies, both real and simulated.…

Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the…

Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…

While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging…

Routine and repetitive infrastructure inspections present safety, efficiency, and consistency challenges as they are performed manually, often in challenging or hazardous environments. They can also introduce subjectivity and errors into…

Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…

This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…

This project has conducted research on robot path planning based on Visual SLAM. The main work of this project is as follows: (1) Construction of Visual SLAM system. Research has been conducted on the basic architecture of Visual SLAM. A…

The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…

3-dimensional (3D) reconstruction is an emerging field in image processing and computer vision that aims to create 3D visualizations/ models of objects/ scenes from image sets. However, its commercial applications and benefits are yet to be…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…

One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…

We present FlashSLAM, a novel SLAM approach that leverages 3D Gaussian Splatting for efficient and robust 3D scene reconstruction. Existing 3DGS-based SLAM methods often fall short in sparse view settings and during large camera movements…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

Rooftop 3D reconstruction using UAV-based photogrammetry offers a promising solution for infrastructure assessment, but existing methods often require high percentages of image overlap and extended flight times to ensure model accuracy when…