Related papers: Active Structure-from-Motion for 3D Straight Lines
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
Three-dimensional (3D) object reconstruction based on differentiable rendering (DR) is an active research topic in computer vision. DR-based methods minimize the difference between the rendered and target images by optimizing both the shape…
Geometry processing of 3D objects is of primary interest in many areas of computer vision and graphics, including robot navigation, 3D object recognition, classification, feature extraction, etc. The recent introduction of cheap range…
Structure and continuous motion estimation from point correspondences is a fundamental problem in computer vision that has been powered by well-known algorithms such as the familiar 5-point or 8-point algorithm. However, despite their…
Shape is an important physical property of natural and manmade 3D objects that characterizes their external appearances. Understanding differences between shapes and modeling the variability within and across shape classes, hereinafter…
We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…
Machines that can predict the effect of physical interactions on the dynamics of previously unseen object instances are important for creating better robots and interactive virtual worlds. In this work, we focus on predicting the dynamics…
In this paper we introduce a vision-aided navigation (VAN) pipeline designed to support ground navigation of autonomous aircraft. The proposed algorithm combines the computational efficiency of indirect methods with the robustness of direct…
In this paper, we aim to model 3D scene geometry, appearance, and physical information just from dynamic multi-view videos in the absence of any human labels. By leveraging physics-informed losses as soft constraints or integrating simple…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Aiming at inferring 3D shapes from 2D images, 3D shape reconstruction has drawn huge attention from researchers in computer vision and deep learning communities. However, it is not practical to assume that 2D input images and their…
This paper presents A3D, an adaptive 3D network that can infer at a wide range of computational constraints with one-time training. Instead of training multiple models in a grid-search manner, it generates good configurations by trading off…
In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
We address the novel task of jointly reconstructing the 3D shape, texture, and motion of an object from a single motion-blurred image. While previous approaches address the deblurring problem only in the 2D image domain, our proposed…
The manipulation of deformable linear objects (DLOs) via model-based control requires an accurate and computationally efficient dynamics model. Yet, data-driven DLO dynamics models require large training data sets while their predictions…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
In this paper we propose an end-to-end swift 3D feature reductionist framework (3DFR) for scene independent change detection. The 3DFR framework consists of three feature streams: a swift 3D feature reductionist stream (AvFeat), a…
We rephrase the problem of 3D reconstruction from images in terms of intersections of projections of orbits of custom built Lie groups actions. We then use an algorithmic method based on moving frames "a la Fels-Olver" to obtain a…
Our goal in this paper is to investigate properties of 3D shape that can be determined from a single image. We define 3D shape attributes -- generic properties of the shape that capture curvature, contact and occupied space. Our first…