相关论文: Interacted Planes Reveal 3D Line Mapping
Recent advances in 3D scene generation produce visually appealing output, but current representations hinder artists' workflows that require modifiable 3D textured mesh scenes for visual effects and game development. Despite significant…
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
We present PlanarRecon -- a novel framework for globally coherent detection and reconstruction of 3D planes from a posed monocular video. Unlike previous works that detect planes in 2D from a single image, PlanarRecon incrementally detects…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
Optical networks with multi-core fibers can replace several electronics networks with a single topology. Each electronic link is replaced by a single fiber, which can save space, weight, and cost, while having better segregation and EMI…
A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…
Visual localization is the problem of estimating the camera pose of a given image with respect to a known scene. Visual localization algorithms are a fundamental building block in advanced computer vision applications, including Mixed and…
3D visual grounding allows an embodied agent to understand visual information in real-world 3D environments based on human instructions, which is crucial for embodied intelligence. Existing 3D visual grounding methods typically rely on…
3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…
In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…
Single-photon light detection and ranging (lidar) captures depth and intensity information of a 3D scene. Reconstructing a scene from observed photons is a challenging task due to spurious detections associated with background illumination…
Surface topography refers to the geometric micro-structure of a surface and defines its tactile characteristics (typically in the sub-millimeter range). High-resolution 3D scanning techniques developed recently enable the 3D reconstruction…
Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains…
High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
Imitation learning for end-to-end driving trains policies only on expert demonstrations. Once deployed in a closed loop, such policies lack recovery data: small mistakes cannot be corrected and quickly compound into failures. A promising…
Dynamic scene understanding is an essential capability in robotics and VR/AR. In this paper we propose Co-Section, an optimization-based approach to 3D dynamic scene reconstruction, which infers hidden shape information from intersection…
In this paper, we revisit the long-standing problem of automatic reconstruction of 3D objects from single line drawings. Previous optimization-based methods can generate compact and accurate 3D models, but their success rates depend heavily…
Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…