Related papers: Robust SfM with Little Image Overlap

Scene reconstruction in the presence of high-speed motion and low illumination is important in many applications such as augmented and virtual reality, drone navigation, and autonomous robotics. Traditional motion estimation techniques fail…

This paper proposes a geometric interpretation of the angles and scales which the orientation- and scale-covariant feature detectors, e.g. SIFT, provide. Two new general constraints are derived on the scales and rotations which can be used…

Novel view synthesis (NVS) approaches such as NeRFs or 3DGS can produce photo-realistic 3D scene representation from a set of images with known extrinsic and intrinsic parameters. The necessary camera poses and calibrations are typically…

This paper presents a novel calibration algorithm for plenoptic cameras, especially the multi-focus configuration, where several types of micro-lenses are used, using raw images only. Current calibration methods rely on simplified…

View-graph is an essential input to large-scale structure from motion (SfM) pipelines. Accuracy and efficiency of large-scale SfM is crucially dependent on the input view-graph. Inconsistent or inaccurate edges can lead to inferior or wrong…

In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…

We present "Humans and Structure from Motion" (HSfM), a method for jointly reconstructing multiple human meshes, scene point clouds, and camera parameters in a metric world coordinate system from a sparse set of uncalibrated multi-view…

Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…

Low-frequency long-range errors (drift) are an endemic problem in 3D structure from motion, and can often hamper reasonable reconstructions of the scene. In this paper, we present a method to dramatically reduce scale and positional drift…

This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and the…

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…

Rolling-shutter (RS) cameras are ubiquitous, but RS SfM (structure-from-motion) has not been fully solved yet. This work suggests an approach to remedy this: We characterize RS single-view geometry of observed world points or lines.…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Unsupervised change detection techniques are generally constrained to two multi-band optical images acquired at different times through sensors sharing the same spatial and spectral resolution. This scenario is suitable for a straight…

Markerless human motion capture (mocap) from multiple RGB cameras is a widely studied problem. Existing methods either need calibrated cameras or calibrate them relative to a static camera, which acts as the reference frame for the mocap…

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…

This paper presents an innovative approach to enhancing explainable image retrieval, particularly in situations where a fine-tuning set is unavailable. The widely-used SPatial verification (SP) method, despite its efficacy, relies on a…

We propose a new structure-from-motion framework to recover accurate camera poses and point clouds from unordered images. Traditional SfM systems typically rely on the successful detection of repeatable keypoints across multiple views as…

Micro scanning mirrors (MSM) extend the range and field of view of LiDARs, medical imaging devices, and laser projectors. However, a new class of soft-hinged MSMs contains out-of-plane translation in addition to the 2 degree-of-freedom…

In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…