Related papers: Collaborative Large-Scale Dense 3D Reconstruction …

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

Achieving truly practical dynamic 3D reconstruction requires online operation, global pose and map consistency, detailed appearance modeling, and the flexibility to handle both RGB and RGB-D inputs. However, existing SLAM methods typically…

We present a dynamic reconstruction system that receives a casual monocular RGB video as input, and outputs a complete and persistent reconstruction of the scene. In other words, we reconstruct not only the the currently visible parts of…

Accurately reconstructing complex full multi-object scenes from sparse observations remains a core challenge in computer vision and a key step toward scalable and reliable simulation for robotics. In this work, we introduce RecGen, a…

Reconstructing a dynamic scene from image inputs is a fundamental computer vision task with many downstream applications. Despite recent advancements, existing approaches still struggle to achieve high-quality reconstructions from unseen…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…

We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…

We investigate the possibility of 3D scene reconstruction from two or more overlapping webcam streams. A large, and growing, number of webcams observe places of interest and are publicly accessible. The question naturally arises: can we…

This paper is about the efficient generation of dense, colored models of city-scale environments from range data and in particular, stereo cameras. Better maps make for better understanding; better understanding leads to better robots, but…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…

Simultaneous reconstruction of geometry and reflectance properties in uncontrolled environments remains a challenging problem. In this paper, we propose an efficient method to reconstruct the scene's 3D geometry and reflectance from…

Image-based 3D reconstruction or 3D photogrammetry of small-scale objects including insects and biological specimens is challenging due to the use of high magnification lens with inherent limited depth of field, and the object's fine…

We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…

Due to inevitable noises introduced during scanning and quantization, 3D reconstruction via RGB-D sensors suffers from errors both in geometry and texture, leading to artifacts such as camera drifting, mesh distortion, texture ghosting, and…

Reconstructing human motion and its surrounding environment is crucial for understanding human-scene interaction and predicting human movements in the scene. While much progress has been made in capturing human-scene interaction in…

Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…

With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…

This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…

Tracking and reconstructing 3D objects from cluttered scenes are the key components for computer vision, robotics and autonomous driving systems. While recent progress in implicit function has shown encouraging results on high-quality 3D…