Related papers: A Survey of Structure from Motion
Real-time 3D reconstruction of surgical scenes plays a vital role in computer-assisted surgery, holding a promise to enhance surgeons' visibility. Recent advancements in 3D Gaussian Splatting (3DGS) have shown great potential for real-time…
We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…
Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and,…
Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstruction, an effective way is to completely cover the scene…
Despite the impressive results achieved by many existing Structure from Motion (SfM) approaches, there is still a need to improve the robustness, accuracy, and efficiency on large-scale scenes with many outlier matches and sparse view…
World-wide detailed 2D maps require enormous collective efforts. OpenStreetMap is the result of 11 million registered users manually annotating the GPS location of over 1.75 billion entries, including distinctive landmarks and common urban…
With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe…
Aggregate size and shape are key properties for determining quality of aggregate materials used in road construction and transportation geotechnics applications. The composition and packing, layer stiffness, and load response are all…
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). However,…
In this paper, we develop a modified differential Structure from Motion (SfM) algorithm that can estimate relative pose from two consecutive frames despite of Rolling Shutter (RS) artifacts. In particular, we show that under constant…
This paper addresses the problem of recovering projective camera matrices from collections of fundamental matrices in multiview settings. We make two main contributions. First, given ${n \choose 2}$ fundamental matrices computed for $n$…
Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images…
Several methods have been proposed for large-scale 3D reconstruction from large, unorganized image collections. A large reconstruction problem is typically divided into multiple components which are reconstructed independently using…
We present Light3R-SfM, a feed-forward, end-to-end learnable framework for efficient large-scale Structure-from-Motion (SfM) from unconstrained image collections. Unlike existing SfM solutions that rely on costly matching and global…
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical properties of the SfM, known as the incremental active depth…
Visual localization is a critical task in mobile robotics, and researchers are continuously developing new approaches to enhance its efficiency. In this article, we propose a novel approach to improve the accuracy of visual localization…
Both self-supervised depth estimation and Structure-from-Motion (SfM) recover scene depth from RGB videos. Despite sharing a similar objective, the two approaches are disconnected. Prior works of self-supervision backpropagate losses…
Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…
We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…
In this paper, we propose a novel projector-camera system for practical and low-cost acquisition of a dense object 3D model with the spectral reflectance property. In our system, we use a standard RGB camera and leverage an off-the-shelf…