Related papers: Real-time 3D scene description using Spheres, Cone…

High speed, high-resolution, and accurate 3D scanning would open doors to many new applications in graphics, robotics, science, and medicine by enabling the accurate scanning of deformable objects during interactions. Past attempts to use…

2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

3D object detection is vital for many robotics applications. For tasks where a 2D perspective range image exists, we propose to learn a 3D representation directly from this range image view. To this end, we designed a 2D convolutional…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

This paper addresses the problem of 3D face recognition using simultaneous sparse approximations on the sphere. The 3D face point clouds are first aligned with a novel and fully automated registration process. They are then represented as…

Two new algorithms are described for matching two dimensional coordinate lists of point sources that are signifcantly faster than previous methods. By matching rarely occurring triangles (or more complex shapes) in the two lists, and by…

Dynamic scene reconstruction from casual videos has seen recent remarkable progress. Numerous approaches have attempted to overcome the ill-posedness of the task by distilling priors from 2D foundational models and by imposing hand-crafted…

Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…

Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

We consider the problem of extracting curve skeletons of three-dimensional, elongated objects given a noisy surface, which has applications in agricultural contexts such as extracting the branching structure of plants. We describe an…

Reconstructing 3D object from a single image (RGB or depth) is a fundamental problem in visual scene understanding and yet remains challenging due to its ill-posed nature and complexity in real-world scenes. To address those challenges, we…

We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…

This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…

This paper introduces a novel contour-based approach named deep snake for real-time instance segmentation. Unlike some recent methods that directly regress the coordinates of the object boundary points from an image, deep snake uses a…

With the rapid development of high-resolution 3D vision applications, the traditional way of manipulating surface detail requires considerable memory and computing time. To address these problems, we introduce an efficient surface detail…