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Image datasets have been steadily growing in size, harming the feasibility and efficiency of large-scale 3D reconstruction methods. In this paper, a novel approach for scaling Multi-View Stereo (MVS) algorithms up to arbitrarily large…

Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…

Geo-localization from a single image at planet scale (essentially an advanced or extreme version of the kidnapped robot problem) is a fundamental and challenging task in applications such as navigation, autonomous driving and disaster…

In this paper alternative method for real-time 3D model rasterization is given. Surfaces are drawn in perspective-map space which acts as a virtual camera lens. It can render single-pass 360{\deg} angle of view (AOV) image of unlimited…

Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it…

Recent studies have demonstrated that visual recognition models lack robustness to distribution shift. However, current work mainly considers model robustness to 2D image transformations, leaving viewpoint changes in the 3D world less…

Prior foveated rendering methods often suffer from a limitation where the shading load escalates with increasing display resolution, leading to decreased efficiency, particularly when dealing with retinal-level resolutions. To tackle this…

View-graph is an essential input to large-scale structure from motion (SfM) pipelines. Accuracy and efficiency of large-scale SfM is crucially dependent on the input view-graph. Inconsistent or inaccurate edges can lead to inferior or wrong…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…

UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure has experienced an increasing surge of interest due to recent advancements in image processing and deep learning-based techniques. View planning…

This paper delves into an in-depth exploration of the Variable Projection (VP) algorithm, a powerful tool for solving separable nonlinear optimization problems across multiple domains, including system identification, image processing, and…

3D visual grounding (3DVG) aims to localize objects in a 3D scene based on natural language queries. In this work, we explore zero-shot 3DVG from multi-view images alone, without requiring any geometric supervision or object priors. We…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…

Document layout analysis is crucial for understanding document structures. On this task, vision and semantics of documents, and relations between layout components contribute to the understanding process. Though many works have been…

Path planning is a fundamental capability of autonomous Unmanned Aerial Vehicles (UAVs), enabling them to efficiently navigate toward a target region or explore complex environments while avoiding obstacles. Traditional pathplanning…

This paper introduces a new approach to extract and analyze vector data from technical drawings in PDF format. Our method involves converting PDF files into SVG format and creating a feature-rich graph representation, which captures the…

Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…

Visual place recognition (VPR) - the act of recognizing a familiar visual place - becomes difficult when there is extreme environmental appearance change or viewpoint change. Particularly challenging is the scenario where both phenomena…

Multi-view projection techniques have shown themselves to be highly effective in achieving top-performing results in the recognition of 3D shapes. These methods involve learning how to combine information from multiple view-points. However,…