相关论文: Gaussian Process Gradient Maps for Loop-Closure De…

3D Gaussian Splatting (3DGS) has become a state-of-the-art framework for real-time, high-fidelity novel view synthesis. However, its substantial storage requirements and inherently unstructured representation pose challenges for deployment…

Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…

In exploration, the goal is to build a map of an unknown environment. Most state-of-the-art approaches use map representations that require drift-free state estimates to function properly. Real-world state estimators, however, exhibit…

In the realm of autonomous driving, accurately detecting surrounding obstacles is crucial for effective decision-making. Traditional methods primarily rely on 3D bounding boxes to represent these obstacles, which often fail to capture the…

This paper introduces a novel pipeline for generating large-scale, highly realistic, and automatically labeled datasets for computer vision tasks in robotic environments. Our approach addresses the critical challenges of the domain gap…

3D scene reconstruction is fundamental for spatial intelligence applications such as AR, robotics, and digital twins. Traditional multi-view stereo struggles with sparse viewpoints or low-texture regions, while neural rendering approaches,…

We propose a new frontier concept called the Gaussian Process Frontier (GP-Frontier) that can be used to locally navigate a robot towards a goal without building a map. The GP-Frontier is built on the uncertainty assessment of an efficient…

This paper presents GS-RoadPatching, an inpainting method for driving scene completion by referring to completely reconstructed regions, which are represented by 3D Gaussian Splatting (3DGS). Unlike existing 3DGS inpainting methods that…

For analyzing maps of the cosmic microwave background sky, it is necessary to mask out the region around the galactic equator where the parasitic foreground emission is strongest as well as the brightest compact sources. Since many of the…

3D scene reconstruction and rendering are core tasks in computer vision, with applications spanning industrial monitoring, robotics, and autonomous driving. Recent advances in 3D Gaussian Splatting (GS) and its variants have achieved…

Novel view synthesis from unconstrained in-the-wild images remains a meaningful but challenging task. The photometric variation and transient occluders in those unconstrained images make it difficult to reconstruct the original scene…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

Accurately rendering scenes with reflective surfaces remains a significant challenge in novel view synthesis, as existing methods like Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) often misinterpret reflections as physical…

Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art…

This paper proposes a new framework to regularize the highly ill-posed and non-linear phase retrieval problem through deep generative priors using simple gradient descent algorithm. We experimentally show effectiveness of proposed algorithm…

Safely landing on the lunar surface is a challenging task, especially in the heavily-shadowed South Pole region where traditional vision-based hazard detection methods are not reliable. The potential existence of valuable resources at the…

The automated localisation of damage in structures is a challenging but critical ingredient in the path towards predictive or condition-based maintenance of high value structures. The use of acoustic emission time of arrival mapping is a…

This paper describes continuous-space methodologies to estimate the collision probability, Euclidean distance and gradient between an ellipsoidal robot model and an environment surface modeled as a set of Gaussian distributions.…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…