Related papers: Active Structure-from-Motion for 3D Straight Lines
Current 3D mapping pipelines generally assume static environments, which limits their ability to accurately capture and reconstruct moving objects. To address this limitation, we introduce the novel task of active mapping of moving objects,…
The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…
Generating coherent and useful image/video scenes from a free-form textual description is technically a very difficult problem to handle. Textual description of the same scene can vary greatly from person to person, or sometimes even for…
Neural networks that map 3D coordinates to signed distance function (SDF) or occupancy values have enabled high-fidelity implicit representations of object shape. This paper develops a new shape model that allows synthesizing novel distance…
Conventional image motion based structure from motion methods first compute optical flow, then solve for the 3D motion parameters based on the epipolar constraint, and finally recover the 3D geometry of the scene. However, errors in optical…
NeRFs have achieved incredible success in novel view synthesis. However, the accuracy of the implicit geometry is unsatisfactory because the passive static environmental illumination has low spatial frequency and cannot provide enough…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
Current Structure-from-Motion (SfM) methods typically follow a two-stage pipeline, combining learned or geometric pairwise reasoning with a subsequent global optimization step. In contrast, we propose a data-driven multi-view reasoning…
Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance, friction, and fabrication variability. In this paper, we…
Rendering articulated objects while controlling their poses is critical to applications such as virtual reality or animation for movies. Manipulating the pose of an object, however, requires the understanding of its underlying structure,…
Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…
Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and,…
Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in cost, simplicity, and ease of deployment. However, existing…
Humans can infer the three-dimensional structure of objects from two-dimensional visual inputs. Modeling this ability has been a longstanding goal for the science and engineering of visual intelligence, yet decades of computational methods…
This paper proposes a new method for Non-Rigid Structure-from-Motion (NRSfM) from a long monocular video sequence observing a non-rigid object performing recurrent and possibly repetitive dynamic action. Departing from the traditional idea…
Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. Developmental…
In this paper, we revisit the long-standing problem of automatic reconstruction of 3D objects from single line drawings. Previous optimization-based methods can generate compact and accurate 3D models, but their success rates depend heavily…
Visual Odometry (VO) can be categorized as being either direct or feature based. When the system is calibrated photometrically, and images are captured at high rates, direct methods have shown to outperform feature-based ones in terms of…
We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…