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09/19/2023
GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation Tracking in the Wild
An accurate and uncertainty-aware 3D human body pose estimation is key t...
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09/03/2023
BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking
Robust, fast, and accurate human state - 6D pose and posture - estimatio...
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06/20/2023
Int-HRL: Towards Intention-based Hierarchical Reinforcement Learning
While deep reinforcement learning (RL) agents outperform humans on an in...
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06/14/2023
SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo
We present a real-time visual-inertial dense mapping method capable of p...
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05/24/2023
Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion
Incrementally recovering 3D dense structures from monocular videos is of...
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02/28/2023
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV
Exploration of unknown space with an autonomous mobile robot is a well-s...
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10/12/2022
Event-based Non-Rigid Reconstruction from Contours
Visual reconstruction of fast non-rigid object deformations over time is...
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08/09/2022
Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes
In this paper, we propose a novel object-level mapping system that can s...
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08/08/2022
Visual-Inertial Multi-Instance Dynamic SLAM with Object-level Relocalisation
In this paper, we present a tightly-coupled visual-inertial object-level...
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08/01/2022
Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion
Robotic applications are continuously striving towards higher levels of ...
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07/27/2022
Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction
The best way to combine the results of deep learning with standard 3D re...
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07/25/2022
DeepFusion: Real-Time Dense 3D Reconstruction for Monocular SLAM using Single-View Depth and Gradient Predictions
While the keypoint-based maps created by sparse monocular simultaneous l...
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07/22/2022
Dense RGB-D-Inertial SLAM with Map Deformations
While dense visual SLAM methods are capable of estimating dense reconstr...
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05/04/2022
BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking
Estimating human motion from video is an active research area due to its...
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05/04/2022
Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation
We propose a keypoint-based object-level SLAM framework that can provide...
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03/30/2021
SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks
By estimating 3D shape and instances from a single view, we can capture ...
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03/29/2021
In-Place Scene Labelling and Understanding with Implicit Scene Representation
Semantic labelling is highly correlated with geometry and radiance recon...
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12/05/2020
Efficient Volumetric Mapping Using Depth Completion With Uncertainty for Robotic Navigation
In robotic applications, a key requirement for safe and efficient motion...
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10/19/2020
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
We present an efficient, elastic 3D LiDAR reconstruction framework which...
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10/15/2020
Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning
With the aim of bridging the gap between high quality reconstruction and...
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08/31/2020
Deep Probabilistic Feature-metric Tracking
Dense image alignment from RGB-D images remains a critical issue for rea...
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06/03/2020
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing
Aerial manipulation aims at combining the manoeuvrability of aerial vehi...
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03/06/2020
Bundle Adjustment on a Graph Processor
Graph processors such as Graphcore's Intelligence Processing Unit (IPU) ...
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02/24/2020
Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM
Generally capable Spatial AI systems must build persistent scene represe...
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02/18/2020
Towards Bounding-Box Free Panoptic Segmentation
In this work we introduce a new bounding-box free network (BBFNet) for p...
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02/16/2020
Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight
Safe and precise reference tracking is a crucial characteristic of MAVs ...
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02/11/2020
Fast Frontier-based Information-driven Autonomous Exploration with an MAV
Exploration and collision-free navigation through an unknown environment...
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04/17/2019
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that work radically different fro...
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03/15/2019
SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representations
Systems which incrementally create 3D semantic maps from image sequences...
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03/15/2019
SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representation
Systems which incrementally create 3D semantic maps from image sequences...
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03/03/2019
X-Section: Cross-section Prediction for Enhanced RGBD Fusion
Detailed 3D reconstruction is an important challenge with application to...
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12/19/2018
MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM
We propose a new multi-instance dynamic RGB-D SLAM system using an objec...
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09/09/2018
LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereo
Sum-of-squares objective functions are very popular in computer vision a...
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09/03/2018
InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset
Datasets have gained an enormous amount of popularity in the computer vi...
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08/25/2018
Fusion++: Volumetric Object-Level SLAM
We propose an online object-level SLAM system which builds a persistent ...
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07/27/2018
Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos
Incorporating the physical environment is essential for a complete under...
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04/03/2018
CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM
The representation of geometry in real-time 3D perception systems contin...
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12/15/2016
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth
We introduce SceneNet RGB-D, expanding the previous work of SceneNet to ...
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09/16/2016
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks
Ever more robust, accurate and detailed mapping using visual sensing has...
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08/07/2016
Deep Learning a Grasp Function for Grasping under Gripper Pose Uncertainty
This paper presents a new method for parallel-jaw grasping of isolated o...
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05/26/2016
