相关论文: GPR-based Model Reconstruction System for Undergro…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…

This paper presents an innovative augmented reality pipeline tailored for museum environments, aimed at recognizing artworks and generating accurate 3D models from single images. By integrating two complementary pre-trained depth estimation…

The basic framework of depth completion is to predict a pixel-wise dense depth map using very sparse input data. In this paper, we try to solve this problem in a more effective way, by reformulating the regression-based depth estimation…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent geometric priors, they lack an absolute metric scale. We…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

In this study we show how to use GPR data acquired along the infiltration of water inside a single ring infiltrometer to inverse the saturated hydraulic conductivity. We used Hydrus-1D to simulate the water infiltration. We generated water…

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…

This paper devises, implements and benchmarks a novel shape retrieval method that can accurately match individual labelled point clusters (instances) of existing industrial facilities with their respective CAD models. It employs a…

Buried landmines and unexploded remnants of war are a constant threat for the population of many countries that have been hit by wars in the past years. The huge amount of human lives lost due to this phenomenon has been a strong motivation…

We introduce a novel 3D generative method, Generative 3D Reconstruction (G3DR) in ImageNet, capable of generating diverse and high-quality 3D objects from single images, addressing the limitations of existing methods. At the heart of our…

Relocalization, the process of re-establishing a robot's position within an environment, is crucial for ensuring accurate navigation and task execution when external positioning information, such as GPS, is unavailable or has been lost.…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

We introduce RPM-Net, a deep learning-based approach which simultaneously infers movable parts and hallucinates their motions from a single, un-segmented, and possibly partial, 3D point cloud shape. RPM-Net is a novel Recurrent Neural…

Building models are conventionally reconstructed by building roof points planar segmentation and then using a topology graph to group the planes together. Roof edges and vertices are then mathematically represented by intersecting segmented…

Time varying sequences of 3D point clouds, or 4D point clouds, are now being acquired at an increasing pace in several applications (e.g., LiDAR in autonomous or assisted driving). In many cases, such volume of data is transmitted, thus…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

Surface cracks on buildings, natural walls and underground mine tunnels can indicate serious structural integrity issues that threaten the safety of the structure and people in the environment. Timely detection and monitoring of cracks are…