相关论文: PredRecon: A Prediction-boosted Planning Framework…

We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

A fully automated object reconstruction pipeline is crucial for digital content creation. While the area of 3D reconstruction has witnessed profound developments, the removal of background to obtain a clean object model still relies on…

This paper presents a novel self-supervised path-planning method for UAV-aided networks. First, we employed an optimizer to solve training examples offline and then used the resulting solutions as demonstrations from which the UAV can learn…

Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…

We present PlanarRecon -- a novel framework for globally coherent detection and reconstruction of 3D planes from a posed monocular video. Unlike previous works that detect planes in 2D from a single image, PlanarRecon incrementally detects…

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…

In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where a robot is…

3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…

Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…

Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…

Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…

This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…