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Understanding the 3D structure of a scene is of vital importance, when it comes to developing fully autonomous robots. To this end, we present a novel deep learning based framework that estimates depth, surface normals and surface curvature…

Computed tomography (CT) is a widely used non-invasive diagnostic method in various fields, and recent advances in deep learning have led to significant progress in CT image reconstruction. However, the lack of large-scale, open-access…

Deep neural network (DNN) architectures have been shown to outperform traditional pipelines for object segmentation and pose estimation using RGBD data, but the performance of these DNN pipelines is directly tied to how representative the…

This paper presents DINO-RotateMatch, a deep-learning framework designed to address the chal lenges of image matching in large-scale 3D reconstruction from unstructured Internet images. The method integrates a dataset-adaptive image pairing…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…

Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…

Attention models have recently emerged as a powerful approach, demonstrating significant progress in various fields. Visualization techniques, such as class activation mapping, provide visual insights into the reasoning of convolutional…

Purpose: To systematically investigate the influence of various data consistency layers, (semi-)supervised learning and ensembling strategies, defined in a $\Sigma$-net, for accelerated parallel MR image reconstruction using deep learning.…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

We present a volume rendering-based neural surface reconstruction method that takes as few as three disparate RGB images as input. Our key idea is to regularize the reconstruction, which is severely ill-posed and leaving significant gaps…

This paper addresses the problem of lane detection which is fundamental for self-driving vehicles. Our approach exploits both colour and depth information recorded by a single RGB-D camera to better deal with negative factors such as…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…

3D Gaussian Splatting has emerged as a powerful representation of geometry and appearance for RGB-only dense Simultaneous Localization and Mapping (SLAM), as it provides a compact dense map representation while enabling efficient and…

As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…

The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…

Co-saliency detection aims at extracting the common salient regions from an image group containing two or more relevant images. It is a newly emerging topic in computer vision community. Different from the most existing co-saliency methods…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

Achieving monocular camera localization within pre-built LiDAR maps can bypass the simultaneous mapping process of visual SLAM systems, potentially reducing the computational overhead of autonomous localization. To this end, one of the key…

Correspondence estimation is one of the most widely researched and yet only partially solved area of computer vision with many applications in tracking, mapping, recognition of objects and environment. In this paper, we propose a novel way…