Related papers: Floorplan-Jigsaw: Jointly Estimating Scene Layout …

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and 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…

Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…

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…

Creating geometric abstracted models from image-based scene reconstructions is difficult due to noise and irregularities in the reconstructed model. In this paper, we present a geometric modeling method for noisy reconstructions dominated…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

Finding correspondences between 3D shapes is a crucial problem in computer vision and graphics, which is for example relevant for tasks like shape interpolation, pose transfer, or texture transfer. An often neglected but essential property…

Maps --- specifically floor plans --- are useful for a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). We present a simple algorithm for quickly laying a floor plan (or…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this…

Texture reconstruction techniques generally suffer from the errors in keyframe poses. We present a non-iterative method for seamless texture reconstruction of a given 3D scene. Our method finds the best texture alignment in a single shot…

In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

In this paper, we explore the challenging 1-to-N map matching problem, which exploits a compact description of map data, to improve the scalability of map matching techniques used by various robot vision tasks. We propose a first method…

3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…

3D Gaussian Splatting (3DGS) leverages densely distributed Gaussian primitives for high-quality scene representation and reconstruction. While existing 3DGS methods perform well in scenes with minor view variation, large view changes from…

Given dense image feature correspondences of a non-rigidly moving object across multiple frames, this paper proposes an algorithm to estimate its 3D shape for each frame. To solve this problem accurately, the recent state-of-the-art…

Multi-View Stereo plays a pivotal role in civil engineering by facilitating 3D modeling, precise engineering surveying, quantitative analysis, as well as monitoring and maintenance. It serves as a valuable tool, offering high-precision and…

We propose a method that integrates two widely available data sources, building footprints from 2D maps and street level images, to derive valuable information that is generally difficult to acquire -- building heights and building facade…