相关论文: Construction of Digital Terrain Maps from Multi-vi…

Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of…

This paper considers outdoor terrain mapping using RGB images obtained from an aerial vehicle. While feature-based localization and mapping techniques deliver real-time vehicle odometry and sparse keypoint depth reconstruction, a dense…

Vision Based Navigation consists in utilizing cameras as precision sensors for GNC after extracting information from images. To enable the adoption of machine learning for space applications, one of obstacles is the demonstration that…

Planetary rover systems need to perform terrain segmentation to identify drivable areas as well as identify specific types of soil for sample collection. The latest Martian terrain segmentation methods rely on supervised learning which is…

Hazard detection is critical for enabling autonomous landing on planetary surfaces. Current state-of-the-art methods leverage traditional computer vision approaches to automate the identification of safe terrain from input digital elevation…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

Using a neural network architecture for depth map inference from monocular stabilized videos with application to UAV videos in rigid scenes, we propose a multi-range architecture for unconstrained UAV flight, leveraging flight data from…

We propose the first 4D tracking and mapping method that jointly performs camera localization and non-rigid surface reconstruction via differentiable rendering. Our approach captures 4D scenes from an online stream of color images with…

This research addresses the challenge of estimating bathymetry from imaging sonars where the state-of-the-art works have primarily relied on either supervised learning with ground-truth labels or surface rendering based on the Lambertian…

Dam reservoirs play an important role in meeting sustainable development goals and global climate targets. However, particularly for small dam reservoirs, there is a lack of consistent data on their geographical location. To address this…

Recent advances in deep-learning based methods for image matching have demonstrated their superiority over traditional algorithms, enabling correspondence estimation in challenging scenes with significant differences in viewing angles,…

This paper proposes a machine learning-assisted channel estimation approach for massive MIMO systems, leveraging DNNs to outperform traditional LS and MMSE methods. In 5G and beyond, accurate channel estimation mitigates pilot contamination…

Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models…

We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes. Our method takes in RGB-D frames and dynamically…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

Deep learning methods have surpassed the performance of traditional techniques on a wide range of problems in computer vision, but nearly all of this work has studied consumer photos, where precisely correct output is often not critical. It…

Synthesizing accurate geometry and photo-realistic appearance of small scenes is an active area of research with compelling use cases in gaming, virtual reality, robotic-manipulation, autonomous driving, convenient product capture, and…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…