相关论文: Real-Time 3D Profiling with RGB-D Mapping in Pipel…

Light Detection and Ranging (LiDAR) sensors have become the sensor of choice for many robotic state estimation tasks. Because of this, in recent years there has been significant work done to fine the most accurate method to perform state…

The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…

Accurate and reliable 3D object detection is vital to safe autonomous driving. Despite recent developments, the performance gap between stereo-based methods and LiDAR-based methods is still considerable. Accurate depth estimation is crucial…

Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

In this paper, we present the development of a sensing system with the capability to compute multispectral point clouds in real-time. The proposed multi-eye sensor system effectively registers information from the visible, (long-wave)…

Spatially and geometrically accurate laser scans are essential in modelling infrastructure for applications in civil, mining and transportation. Monitoring of underground or indoor environments such as mines or tunnels is challenging due to…

We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

The robot's objective is to rehabilitate the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the…

Active stereo vision is important in reconstructing objects without obvious textures. However, it is still very challenging to extract and match the projected patterns from two camera views automatically and robustly. In this paper, we…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

Depth map fusion is an essential part in both stereo and RGB-D based 3-D reconstruction pipelines. Whether produced with a passive stereo reconstruction or using an active depth sensor, such as Microsoft Kinect, the depth maps have noise…

The paper proposes a light-weighted stereo frustums matching module for 3D objection detection. The proposed framework takes advantage of a high-performance 2D detector and a point cloud segmentation network to regress 3D bounding boxes for…

Corrosion, a naturally occurring process leading to the deterioration of metallic materials, demands diligent detection for quality control and the preservation of metal-based objects, especially within industrial contexts. Traditional…

The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…

3D object detection has become an emerging task in autonomous driving scenarios. Previous works process 3D point clouds using either projection-based or voxel-based models. However, both approaches contain some drawbacks. The voxel-based…

One of the most common modes of representing engineering schematics are Piping and Instrumentation diagrams (P&IDs) that describe the layout of an engineering process flow along with the interconnected process equipment. Over the years,…