Related papers: Simulating Structure-from-Motion
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,…
Compositional scene reconstruction seeks to create object-centric representations rather than holistic scenes from real-world videos, which is natively applicable for simulation and interaction. Conventional compositional reconstruction…
We built our pipeline EgoLoc-v1, mainly inspired by EgoLoc. We propose a model ensemble strategy to improve the camera pose estimation part of the VQ3D task, which has been proven to be essential in previous work. The core idea is not only…
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…
Our world is full of identical objects (\emphe.g., cans of coke, cars of same model). These duplicates, when seen together, provide additional and strong cues for us to effectively reason about 3D. Inspired by this observation, we introduce…
While Structure-from-Motion (SfM) has seen much progress over the years, state-of-the-art systems are prone to failure when facing extreme viewpoint changes in low-overlap, low-parallax or high-symmetry scenarios. Because capturing images…
Constructing simulation scenes that are both visually and physically realistic is a problem of practical interest in domains ranging from robotics to computer vision. This problem has become even more relevant as researchers wielding large…
Efficient and accurate camera pose estimation forms the foundational requirement for dense reconstruction in autonomous navigation, robotic perception, and virtual simulation systems. This paper addresses the challenge via cuSfM, a…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
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…
Structure from motion (SFM) and ground plane homography estimation are critical to autonomous driving and other robotics applications. Recently, much progress has been made in using deep neural networks for SFM and homography estimation…
We describe a set of tools for analyzing, visualizing, and assessing architectural/construction progress with unordered photo collections and 3D building models. With our interface, a user guides the registration of the model in one of the…
A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme depends directly on 3D parameters e.g. depth of points, and…
This paper introduces a preprocessing technique to speed up Structure-from-Motion (SfM) based pose estimation, which is critical for real-time applications like augmented reality (AR), virtual reality (VR), and robotics. Our method…
We present a novel 3D mapping pipeline for large-scale indoor environments. To address the significant challenges in large-scale indoor scenes, such as prevalent occlusions and textureless regions, we propose IM360, a novel approach that…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
Structured illumination microscopy (SIM) uses a set of images captured with different illumination patterns to computationally reconstruct resolution beyond the diffraction limit. Here, we propose an alternative approach using a single…
While Structure from Motion (SfM) achieves great success in 3D reconstruction, it still meets challenges on large scale scenes. In this work, large scale SfM is deemed as a graph problem, and we tackle it in a divide-and-conquer manner.…
We present a method for synthesizing naturally looking images of multiple people interacting in a specific scenario. These images benefit from the advantages of synthetic data: being fully controllable and fully annotated with any type of…
Three-dimensional (3D) reconstruction from two-dimensional images is an active research field in computer vision, with applications ranging from navigation and object tracking to segmentation and three-dimensional modeling. Traditionally,…