6 papers
MultiFly: A Real-World Multimodal Aerial Dataset with Annotation-Efficient Label Transfer and Cross-Modal Semantic Consistency
Markus Gross, Andreas Greiner, Taehyoung Kim +12
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 sample…
EnerGS: Energy-Based Gaussian Splatting with Partial Geometric Priors
Rui Song, Tianhui Cai, Markus Gross +5
3D Gaussian Splatting (3DGS) has been widely adopted for scene reconstruction, where training inherently constitutes a highly coupled and non-convex optimization problem. Recent wo…
SegFly: A Dataset and 2D-3D-2D Paradigm for Aerial RGB-Thermal Semantic Segmentation at Scale
Markus Gross, Sai Bharadhwaj Matha, Rui Song +4
Semantic segmentation for uncrewed aerial vehicles (UAVs) is fundamental for aerial scene understanding, yet existing RGB and RGB-T datasets remain limited in scale, diversity, and…
SafeLand: Safe Autonomous Landing in Unknown Environments with Bayesian Semantic Mapping
Markus Gross, Andreas Greiner, Sai Bharadhwaj Matha +3
Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant safety challenges, particularly near people and infrastructure, as UAVs tra…
OccuFly: A 3D Vision Benchmark for Semantic Scene Completion from the Aerial Perspective
Markus Gross, Sai B. Matha, Aya Fahmy +3
Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and p…
Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles
Rui Song, Chenwei Liang, Hu Cao +5
Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D pe…