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Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…

Differentiable 3D-Gaussian splatting (GS) is emerging as a prominent technique in computer vision and graphics for reconstructing 3D scenes. GS represents a scene as a set of 3D Gaussians with varying opacities and employs a computationally…

Segmenting objects in an environment is a crucial task for autonomous driving and robotics, as it enables a better understanding of the surroundings of each agent. Although camera sensors provide rich visual details, they are vulnerable to…

Sonar images are relevant for advancing underwater exploration, autonomous navigation, and ecosystem monitoring. However, the progress depends on data availability. The scarcity of publicly available, well-annotated sonar image datasets…

With the development of range sensors such as LIDAR and time-of-flight cameras, 3D point cloud scans have become ubiquitous in computer vision applications, the most prominent ones being gesture recognition and autonomous driving.…

3D object detection is a fundamental task in scene understanding. Numerous research efforts have been dedicated to better incorporate Hough voting into the 3D object detection pipeline. However, due to the noisy, cluttered, and partial…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Traffic volume data collection is a crucial aspect of transportation engineering and urban planning, as it provides vital insights into traffic patterns, congestion, and infrastructure efficiency. Traditional manual methods of traffic data…

We propose an optimization technique for 3-D underwater object modeling from 2-D forward-scan sonar images at known poses. A key contribution, for objects imaged in the proximity of the sea surface, is to resolve the multipath artifacts due…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

At present, the anchor-based or anchor-free models that use LiDAR point clouds for 3D object detection use the center assigner strategy to infer the 3D bounding boxes. However, in a real world scene, the LiDAR can only acquire a limited…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

We propose a novel scene flow method that captures 3D motions from point clouds without relying on ground-truth scene flow annotations. Due to the irregularity and sparsity of point clouds, it is expensive and time-consuming to acquire…

3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Surface anomaly detection using 3D point cloud data has gained increasing attention in industrial inspection. However, most existing methods rely on deep learning techniques that are highly dependent on large-scale datasets for training,…

Manually annotating 3D point clouds is laborious and costly, limiting the training data preparation for deep learning in real-world object detection. While a few previous studies tried to automatically generate 3D bounding boxes from weak…