相关论文: Scanning Bot: Efficient Scan Planning using Panora…
The research in dense online 3D mapping is mostly focused on the geometrical accuracy and spatial extent of the reconstructions. Their color appearance is often neglected, leading to inconsistent colors and noticeable artifacts. We rectify…
In scanning electron microscopy, the achievable image quality is often limited by a maximum feasible acquisition time per dataset. Particularly with regard to three-dimensional or large field-of-view imaging, a compromise must be found…
We present a novel algorithm for real-time planar semantic mapping tailored for humanoid robots navigating complex terrains such as staircases. Our method is adaptable to any odometry input and leverages GPU-accelerated processes for planar…
In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
Event cameras are a paradigm shift in camera technology. Instead of full frames, the sensor captures a sparse set of events caused by intensity changes. Since only the changes are transferred, those cameras are able to capture quick…
Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…
The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…
Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…
Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…
RGB-D scanning of indoor environments is important for many applications, including real estate, interior design, and virtual reality. However, it is still challenging to register RGB-D images from a hand-held camera over a long video…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…