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

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

We propose LiteReality, a novel pipeline that converts RGB-D scans of indoor environments into compact, realistic, and interactive 3D virtual replicas. LiteReality not only reconstructs scenes that visually resemble reality but also…

There are many benefits for exploring and exploiting underground mines, but there are also significant risks and challenges. One such risk is the potential for accidents caused by the collapse of the pillars, and roofs which can be…

This paper describes a prototype software and hardware platform to provide support to field operators during the inspection of surface defects of non-metallic pipes. Inspection is carried out by video filming defects created on the same…

This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…

Chronic wound monitoring and management require accurate and efficient wound measurement methods. This paper presents a fast, non-invasive 3D wound measurement algorithm based on RGB-D imaging. The method combines RGB-D odometry with…

Accurate digital twins of industrial assets, such as ships and offshore platforms, rely on the precise reconstruction of complex pipe networks. However, manual modelling of pipes from laser scan data is a time-consuming and labor-intensive…

We present a voxel-based rendering pipeline for large 3D line sets that employs GPU ray-casting to achieve scalable rendering including transparency and global illumination effects that cannot be achieved with GPU rasterization. Even for…

Navigation and inspection in confined environments, such as tunnels and pipes, pose significant challenges for existing robots due to limitations in maneuverability and adaptability to varying geometries. Vine robots, which are soft growing…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

Depth sensing is crucial for 3D reconstruction and scene understanding. Active depth sensors provide dense metric measurements, but often suffer from limitations such as restricted operating ranges, low spatial resolution, sensor…

Simulating sonar devices requires modeling complex underwater acoustics, simultaneously rendering time-efficient data. Existing methods focus on basic implementation of one sonar type, where most of sound properties are disregarded. In this…

This article describes the design and development of a system for remote indoor 3D monitoring using an undetermined number of Microsoft(R) Kinect sensors. In the proposed client-server system, the Kinect cameras can be connected to…

ITER's working environment is characterized by extreme conditions, that deem maintenance and inspection tasks to be carried out through remote handling. 3D Node is a hardware/software module that extracts critical information from the…

In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…

Improper solid waste management represents both a serious threat to ecosystem health and a significant source of revenues for criminal organizations perpetrating environmental crimes. This issue can be mitigated thanks to the increasing…

Multiple low-vision tasks such as denoising, deblurring and super-resolution depart from RGB images and further reduce the degradations, improving the quality. However, modeling the degradations in the sRGB domain is complicated because of…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…