Related papers: PlaneMatch: Patch Coplanarity Prediction for Robus…
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…
Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…
In this work we present a method to train a plane-aware convolutional neural network for dense depth and surface normal estimation as well as plane boundaries from a single indoor $360^\circ$ image. Using our proposed loss function, our…
Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…
We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…
Binary Code Similarity Detection (BCSD) is not only essential for security tasks such as vulnerability identification but also for code copying detection, yet it remains challenging due to binary stripping and diverse compilation…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines…
We introduce a novel CNN-based feature point detector - GLAMpoints - learned in a semi-supervised manner. Our detector extracts repeatable, stable interest points with a dense coverage, specifically designed to maximize the correct matching…
Despite impressive performance as evaluated on i.i.d. holdout data, deep neural networks depend heavily on superficial statistics of the training data and are liable to break under distribution shift. For example, subtle changes to the…
We introduce ShapeCodeBench, a synthetic benchmark for perception-to-program reconstruction: given a rendered raster image, a model must emit an executable drawing program that a deterministic evaluator re-renders and compares with the…
Matting with a static background, often referred to as ``Background Matting" (BGM), has garnered significant attention within the computer vision community due to its pivotal role in various practical applications like webcasting and photo…
Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the…
Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…
We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…
Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…
In the RGB-D vision community, extensive research has been focused on designing multi-modal learning strategies and fusion structures. However, the complementary and fusion mechanisms in RGB-D models remain a black box. In this paper, we…
Although there has been significant progress in the past decade,tracking is still a very challenging computer vision task, due to problems such as occlusion and model drift.Recently, the increased popularity of depth sensors e.g. Microsoft…
Plane Wave imaging enables many applications that require high frame rates, including localisation microscopy, shear wave elastography, and ultra-sensitive Doppler. To alleviate the degradation of image quality with respect to conventional…
Neural implicit surfaces have become an important technique for multi-view 3D reconstruction but their accuracy remains limited. In this paper, we argue that this comes from the difficulty to learn and render high frequency textures with…