相关论文: VF-Plan: Bridging the Art Gallery Problem and Stat…
We present a Reinforcement Learning (RL) solution to the view planning problem (VPP), which generates a sequence of view points that are capable of sensing all accessible area of a given object represented as a 3D model. In doing so, the…
It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…
Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
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…
Visual Place Recognition (VPR) has advanced significantly with high-capacity foundation models like DINOv2, achieving remarkable performance. Nonetheless, their substantial computational cost makes deployment on resource-constrained devices…
Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
Visual Document Retrieval (VDR), the task of retrieving visually-rich document pages using queries that combine visual and textual cues, is crucial for numerous real-world applications. Recent state-of-the-art methods leverage Large…
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…
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…
Graph routing problems play a vital role in web-related networks, where finding optimal paths across graphs is essential for efficient data transmission and content delivery. Classic routing formulations such as the Traveling Salesman…
When observing objects, humans benefit from their spatial visualization and mental rotation ability to envision potential optimal viewpoints based on the current observation. This capability is crucial for enabling robots to achieve…
Visual Place Recognition (VPR) has been traditionally formulated as a single-image retrieval task. Using multiple views offers clear advantages, yet this setting remains relatively underexplored and existing methods often struggle to…
Adaptive Random Testing (ART) is an enhancement of Random Testing (RT), and aims to improve the RT failure-detection effectiveness by distributing test cases more evenly in the input domain. Many ART algorithms have been proposed, with…
Many resource allocation problems in the cloud can be described as a basic Virtual Network Embedding Problem (VNEP): finding mappings of request graphs (describing the workloads) onto a substrate graph (describing the physical…
Visual Grounding (VG) aims to locate the most relevant region in an image, based on a flexible natural language query but not a pre-defined label, thus it can be a more useful technique than object detection in practice. Most…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
We present VMap, a map-like rectangular space-filling visualization, to perform vertex-centric graph exploration. Existing visualizations have limited support for quality optimization among rectangular aspect ratios, vertex-edge…