相关论文: Mapping the Catacombs: An Underwater Cave Segment …
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Identifying regions affected by disasters is a vital step in effectively managing and planning relief and rescue efforts. Unlike the traditional approaches of manually assessing post-disaster damage, analyzing images of Unmanned Aerial…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
Our study introduces a novel, low-cost, and reproducible framework for real-time, object-level structural assessment and geolocation of roadside vegetation and infrastructure with commonly available but underutilized dashboard camera…
We present a pipeline for geomorphological analysis that uses structure from motion (SfM) and deep learning on close-range aerial imagery to estimate spatial distributions of rock traits (size, roundness, and orientation) along a tectonic…
Mapping systems with novel view synthesis (NVS) capabilities, most notably 3D Gaussian Splatting (3DGS), are widely used in computer vision, as well as in various applications, including augmented reality, robotics, and autonomous driving.…
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…
Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with…
3D Gaussian Splatting (3DGS) is a powerful reconstruction technique, but it needs to be initialized from accurate camera poses and high-fidelity point clouds. Typically, the initialization is taken from Structure-from-Motion (SfM)…
In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…
A Manhattan world lying along cuboid buildings is useful for camera angle estimation. However, accurate and robust angle estimation from fisheye images in the Manhattan world has remained an open challenge because general scene images tend…
Due to the unique characteristics of underwater environments, accurate 3D reconstruction of underwater objects poses a challenging problem in tasks such as underwater exploration and mapping. Traditional methods that rely on multiple sensor…
3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…
Underwater visual perception is essentially important for underwater exploration, archeology, ecosystem and so on. The low illumination, light reflections, scattering, absorption and suspended particles inevitably lead to the critically…
Visual-Spatial Systems has become increasingly essential in concrete crack inspection. However, existing methods often lacks adaptability to diverse scenarios, exhibits limited robustness in image-based approaches, and struggles with curved…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
We propose a new Movie Map system, with an interface for exploring cities. The system consists of four stages; acquisition, analysis, management, and interaction. In the acquisition stage, omnidirectional videos are taken along streets in…
Reconstruction under adverse rainy conditions poses significant challenges due to reduced visibility and the distortion of visual perception. These conditions can severely impair the quality of geometric maps, which is essential for…
This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…
Vision-based depth reconstruction is a challenging problem extensively studied in computer vision but still lacking universal solution. Reconstructing depth from single image is particularly valuable to mobile robotics as it can be embedded…