相关论文: System for 3D Acquisition and 3D Reconstruction us…
Sewer pipe faults, such as leaks and blockages, can lead to severe consequences including groundwater contamination, property damage, and service disruption. Traditional inspection methods rely heavily on the manual review of CCTV footage…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
Three-dimensional (3D) imaging of thin, extended specimens at nanometer resolution is critical for applications in biology, materials science, advanced synthesis, and manufacturing. One route to 3D imaging is tomography, which requires a…
To address the issues of weak correlation between multi-view features, low recognition accuracy of small-scale targets, and insufficient robustness in complex scenarios in underground pipeline detection using 3D GPR, this paper proposes a…
Surface quality inspection of optical components is critical in optical and electronic industries. Structured-Light Modulation Analysis Technique (SMAT) is a novel method recently proposed for the contaminant and defect detection of…
Light detection and ranging (Lidar) single-photon devices capture range and intensity information from a 3D scene. This modality enables long range 3D reconstruction with high range precision and low laser power. A multispectral…
The paper presents a new model for single channel images low-level interpretation. The image is decomposed into a graph which captures a complete set of structural features. The description allows to accurately identify every edge location…
Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…
Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstruction, an effective way is to completely cover the scene…
We propose a novel framework to automatically learn to aggregate and transform photometric measurements from multiple unstructured views into spatially distinctive and view-invariant low-level features, which are subsequently fed to a…
3D reconstruction from a single RGB image is a challenging problem in computer vision. Previous methods are usually solely data-driven, which lead to inaccurate 3D shape recovery and limited generalization capability. In this work, we focus…
Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural…
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…
For quality control in the factory, 3D-metrology faces increasing demands for high precision and for more space-bandwidth-speed-product SBSP (number of 3D-points/sec). As a potential solution, we will discuss Structured-Illumination…
The degradation of sewer pipes poses significant economical, environmental and health concerns. The maintenance of such assets requires structured plans to perform inspections, which are more efficient when structural and environmental…
Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid colliding with other objects. In general, we must…
Accurate 6D pose estimation is essential for robotic manipulation in industrial environments. Existing pipelines typically rely on off-the-shelf object detectors followed by cropping and pose refinement, but their performance degrades under…
We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…
Dense reconstructions often contain errors that prior work has so far minimised using high quality sensors and regularising the output. Nevertheless, errors still persist. This paper proposes a machine learning technique to identify errors…
Accurate and fast 3D imaging of specular surfaces still poses major challenges for state-of-the-art optical measurement principles. Frequently used methods, such as phase-measuring deflectometry (PMD) or shape-from-polarization (SfP), rely…