Related papers: Efficient moving point handling for incremental 3D…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…

We study the accuracy of triangulation in multi-camera systems with respect to the number of cameras. We show that, under certain conditions, the optimal achievable reconstruction error decays quadratically as more cameras are added to the…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

In this paper, a novel learning-based network, named DeepDT, is proposed to reconstruct the surface from Delaunay triangulation of point cloud. DeepDT learns to predict inside/outside labels of Delaunay tetrahedrons directly from a point…

This paper introduces a Delaunay triangulation algorithm based on the external incremental method. Unlike traditional random incremental methods, this approach uses convex hull and points as basic operational units instead of triangles.…

Reconstructing building wireframe from airborne LiDAR point clouds yields a compact, topology-centric representation that enables structural understanding beyond dense meshes. Yet a key limitation persists: conventional methods have failed…

Surface reconstruction from point clouds is a fundamental step in many applications in computer vision. In this paper, we develop an efficient iterative method on a variational model for the surface reconstruction from point clouds. The…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…

Standard 3D reconstruction pipelines assume stationary world, therefore suffer from `ghost artifacts' whenever dynamic objects are present in the scene. Recent approaches has started tackling this issue, however, they typically either only…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

Estimating the 3D motion of points in a scene, known as scene flow, is a core problem in computer vision. Traditional learning-based methods designed to learn end-to-end 3D flow often suffer from poor generalization. Here we present a…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

In this work, we address the task of 3D reconstruction in dynamic scenes, where object motions frequently degrade the quality of previous 3D pointmap regression methods, such as DUSt3R, that are originally designed for static 3D scene…

An extension of the restricted Delaunay-refinement algorithm for surface mesh generation is described, where a new point-placement scheme is introduced to improve element quality in the presence of mesh size constraints. Specifically, it is…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

We propose a continuous optimization method for solving dense 3D scene flow problems from stereo imagery. As in recent work, we represent the dynamic 3D scene as a collection of rigidly moving planar segments. The scene flow problem then…

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 describe an algorithm to construct an intrinsic Delaunay triangulation of a smooth closed submanifold of Euclidean space. Using results established in a companion paper on the stability of Delaunay triangulations on $\delta$-generic…

In the following article we discuss Delaunay triangulations for a point cloud on an embedded surface in $\mathbb{R}^3$. We give sufficient conditions on the point cloud to show that the diagonal switch algorithm finds an embedded Delaunay…