Related papers: Exploiting Symmetry and/or Manhattan Properties fo…
Actions as simple as grasping an object or navigating around it require a rich understanding of that object's 3D shape from a given viewpoint. In this paper we repurpose powerful learning machinery, originally developed for object…
Mesh models are a promising approach for encoding the structure of 3D objects. Current mesh reconstruction systems predict uniformly distributed vertex locations of a predetermined graph through a series of graph convolutions, leading to…
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…
A Manhattan world lying along cuboid buildings is useful for camera angle estimation. However, accurate and robust angle estimation from fisheye images in the Manhattan world has remained an open challenge because general scene images tend…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
Existing methods for reconstructing objects and humans from a monocular image suffer from severe mesh collisions and performance limitations for interacting occluding objects. This paper introduces a method to obtain a globally consistent…
Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing…
We present a method to infer 3D pose and shape of vehicles from a single image. To tackle this ill-posed problem, we optimize two-scale projection consistency between the generated 3D hypotheses and their 2D pseudo-measurements.…
Predicting 3D room layout from single image is a challenging task with many applications. In this paper, we propose a new training and post-processing method for 3D room layout estimation, built on a recent state-of-the-art 3D room layout…
With the explosive growth of web-based cameras and mobile devices, billions of photographs are uploaded to the internet. We can trivially collect a huge number of photo streams for various goals, such as image clustering, 3D scene…
This paper proposes a novel algorithm of discovering the structure of a kaleidoscopic imaging system that consists of multiple planar mirrors and a camera. The kaleidoscopic imaging system can be recognized as the virtual multi-camera…
Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments,…
We demonstrate the utility of recurring pattern discovery from a single image for spatial understanding of a 3D scene in terms of (1) vanishing point detection, (2) hypothesizing 3D translation symmetry and (3) counting the number of RP…
In this paper, we propose a novel procedure for 3D layout recovery of indoor scenes from single 360 degrees panoramic images. With such images, all scene is seen at once, allowing to recover closed geometries. Our method combines…
We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…
Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…
In this paper, we will demonstrate how Manhattan structure can be exploited to transform the Simultaneous Localization and Mapping (SLAM) problem, which is typically solved by a nonlinear optimization over feature positions, into a model…
In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…
The lack of fa\c{c}ade structures in photogrammetric mesh models renders them inadequate for meeting the demands of intricate applications. Moreover, these mesh models exhibit irregular surfaces with considerable geometric noise and texture…
To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…