相关论文: Scanning Bot: Efficient Scan Planning using Panora…
Scanpath prediction in 360{\deg} images can help realize rapid rendering and better user interaction in Virtual/Augmented Reality applications. However, existing scanpath prediction models for 360{\deg} images execute scanpath prediction on…
Event cameras are rapidly emerging as powerful vision sensors for 3D reconstruction, uniquely capable of asynchronously capturing per-pixel brightness changes. Compared to traditional frame-based cameras, event cameras produce sparse yet…
3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…
Time-resolved image sensors that capture light at pico-to-nanosecond timescales were once limited to niche applications but are now rapidly becoming mainstream in consumer devices. We propose low-cost and low-power imaging modalities that…
We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…
We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…
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…
Thin leaves, fine stems, self-occlusion, non-rigid and slowly changing structures make plants difficult for three-dimensional (3D) scanning and reconstruction -- two critical steps in automated visual phenotyping. Many current solutions…
This article describes novel approaches to quickly estimate planar surfaces from RGBD sensor data. The approach manipulates the standard algebraic fitting equations into a form that allows many of the needed regression variables to be…
Event cameras are a kind of bio-inspired sensors that generate data when the brightness changes, which are of low-latency and high dynamic range (HDR). However, due to the nature of the sparse event stream, event-based mapping can only…
Recent advances in text-to-3D scene generation have demonstrated significant potential to transform content creation across multiple industries. Although the research community has made impressive progress in addressing the challenges of…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…
In this paper we propose a low-cost high-speed imaging line scan system. We replace an expensive industrial line scan camera and illumination with a custom-built set-up of cheap off-the-shelf components, yielding a measurement system with…
Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…