We introduce MultiFly, a real-world, low-altitude UAV dataset for semantic perception across RGB, thermal, LiDAR, and radar modalities. MultiFly provides 17,272 synchronized samples from four suburban scenes with frame-wise annotations for 15 semantic classes, together with calibration and GNSS-RTK/IMU measurements. To...
Markus Gross, Andreas Greiner, Taehyoung Kim et al.· 0 citations
Autonomous Unmanned Aerial Vehicle (UAV) navigation in urban environments requires precise pose estimation. Because Global Navigation Satellite System (GNSS) signals are often unreliable in cities, visual localization serves as a crucial complement. Within this domain, textureless Level-of-Detail (LoD) city models prov...
Oussema Dhaouadi, Z. Bauer, Johannes Meier et al.· 1 citation
Aerial visual localization is crucial for autonomous drone navigation in urban environments where GNSS signals are often degraded. Lightweight textureless Level-of-Detail (LoD) city models provide a geometric map alternative to textured assets. Existing silhouette-based methods rely on image-space alignment, which can...
Oussema Dhaouadi, Jie-Hu-Chen Shao, Jakob Gollreiter et al.· 1 citation
To reconstruct a predictive 4D representation of the physical world from monocular video captured by a moving camera, we jointly reconstruct dynamic Gaussian radiance fields and infer their underlying physical dynamics. This paper proposes \emph{Physical SLAM}, a physics-aware method for constructing 4D Gaussian fields...
Guang-Ming Wang, Zhi-Shuo Liu, Hai-Bing Wu et al.· 0 citations
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