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Large scale 3D scene reconstruction is important for applications such as virtual reality and simulation. Existing neural rendering approaches (e.g., NeRF, 3DGS) have achieved realistic reconstructions on large scenes, but optimize per…
Significant progress has been made in photo-realistic scene reconstruction over recent years. Various disparate efforts have enabled capabilities such as multi-appearance or large-scale modeling; however, there lacks a welldesigned dataset…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…
Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…
We propose an end-to-end pipeline for both building and tracking 3D facial models from personalized in-the-wild (cellphone, webcam, youtube clips, etc.) video data. First, we present a method for automatic data curation and retrieval based…
Modern high-resolution satellite sensors collect optical imagery with ground sampling distances (GSDs) of 30-50cm, which has sparked a renewed interest in photogrammetric 3D surface reconstruction from satellite data. State-of-the-art…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
Despite impressive results achieved by many on-land visual mapping algorithms in the recent decades, transferring these methods from land to the deep sea remains a challenge due to harsh environmental conditions. Images captured by…
Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…
In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…
Humans tend to build environments with structure, which consists of mainly planar surfaces. From the intersection of planar surfaces arise straight lines. Lines have more degrees-of-freedom than points. Thus, line-based…
High-resolution 3D medical images are important for analysis and diagnosis, but axial scanning to acquire them is very time-consuming. In this paper, we propose a fast end-to-end multi-focal plane imaging network (MFPINet) to reconstruct…
Autonomous mobile robots like self-flying drones and industrial robots heavily depend on depth images to perform tasks such as 3D reconstruction and visual SLAM. However, the presence of inaccuracies in these depth images can greatly hinder…
Recently, neural implicit 3D reconstruction in indoor scenarios has become popular due to its simplicity and impressive performance. Previous works could produce complete results leveraging monocular priors of normal or depth. However, they…
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…
Structure-from-Motion (SfM) is a fundamental technique for recovering camera poses and scene structure from multi-view imagery, serving as a critical upstream component for applications ranging from 3D reconstruction to modern neural scene…
Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent ability in small-scale 3D surface reconstruction. However, extending 3DGS to large-scale scenes remains a significant challenge. To address this gap, we propose a novel…
We present a novel approach for real-time joint reconstruction of 3D scene motion and geometry from binocular stereo videos. Our approach is based on a novel variational halfway-domain scene flow formulation, which allows us to obtain…