相关论文: RESPLE: Recursive Spline Estimation for LiDAR-Base…

This letter presents an accurate and robust Lidar Inertial Odometry framework. We fuse LiDAR scans with IMU data using a tightly-coupled iterative error state Kalman filter for robust and fast localization. To achieve robust correspondence…

Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…

Existing time-resolved non-line-of-sight (NLOS) imaging methods reconstruct hidden scenes by inverting the optical paths of indirect illumination measured at visible relay surfaces. These methods are prone to reconstruction artifacts due to…

In this paper, we propose a novel model called Recurrent Explicit Duration Switching Linear Dynamical Systems (REDSLDS) that incorporates recurrent explicit duration variables into the rSLDS model. We also propose an inference and learning…

Single-Photon Light Detection and Ranging (SP-LiDAR is emerging as a leading technology for long-range, high-precision 3D vision tasks. In SP-LiDAR, timestamps encode two complementary pieces of information: pulse travel time (depth) and…

Free-moving object reconstruction from monocular video remains challenging, particularly without reliable pose or depth cues and under arbitrary object motion. We introduce OnlineSplatter, a novel online feed-forward framework generating…

Reduced-order models based on level-set methods are widely used tools to qualitatively capture and track the nonlinear dynamics of an interface. The aim of this paper is to develop a physics-informed, data-driven, statistically rigorous…

Heavy-tailed error distributions and predictors with anomalous values are ubiquitous in high-dimensional regression problems and can seriously jeopardize the validity of statistical analyses if not properly addressed. For more reliable…

The estimation of functions with varying degrees of smoothness is a challenging problem in the nonparametric function estimation. In this paper, we propose the LABS (L\'{e}vy Adaptive B-Spline regression) model, an extension of the LARK…

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Efficient and accurate object pose estimation is an essential component for modern vision systems in many applications such as Augmented Reality, autonomous driving, and robotics. While research in model-based 6D object pose estimation has…

Light Detection and Ranging (LiDAR) sensors have become the sensor of choice for many robotic state estimation tasks. Because of this, in recent years there has been significant work done to fine the most accurate method to perform state…

Phase-shifting profilometry (PSP) enables high-accuracy 3D reconstruction but remains highly susceptible to object motion. Although numerous studies have explored compensation for motion-induced errors, residual inaccuracies still persist,…

We present Deblur-SLAM, a robust RGB SLAM pipeline designed to recover sharp reconstructions from motion-blurred inputs. The proposed method bridges the strengths of both frame-to-frame and frame-to-model approaches to model sub-frame…

In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively.…

There is a current increase in the development of "4D" Doppler-capable radar and lidar range sensors that produce 3D point clouds where all points also have information about the radial velocity relative to the sensor. 4D radars in…

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…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…