相关论文: 3d sequential image mosaicing for underwater navig…

The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…

Spatial intelligence is emerging as a transformative frontier in AI, yet it remains constrained by the scarcity of large-scale 3D datasets. Unlike the abundant 2D imagery, acquiring 3D data typically requires specialized sensors and…

Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…

Advances in the design of multi-spectral cameras have led to great interests in a wide range of applications, from astronomy to autonomous driving. However, such cameras inherently suffer from a trade-off between the spatial and spectral…

Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…

Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…

3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…

This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…

3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

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…

In recent years, the technological improvements of low-cost small-scale Unmanned Aerial Vehicles (UAVs) are promoting an ever-increasing use of them in different tasks. In particular, the use of small-scale UAVs is useful in all these…

Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…

Accurate 3D reconstruction in degraded imaging conditions remains a key challenge in photogrammetry and neural rendering. In underwater environments, spatially varying visibility caused by scattering, attenuation, and sparse observations…

Underwater pipelines are highly susceptible to corrosion, which not only shorten their service life but also pose significant safety risks. Compared with manual inspection, the intelligent real-time imaging system for underwater pipeline…

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…

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 real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…