Related papers: Plane Pair Matching for Efficient 3D View Registra…
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…
Man-made environments typically comprise planar structures that exhibit numerous geometric relationships, such as parallelism, coplanarity, and orthogonality. Making full use of these relationships can considerably improve the robustness of…
Recent approaches for predicting layouts from 360 panoramas produce excellent results. These approaches build on a common framework consisting of three steps: a pre-processing step based on edge-based alignment, prediction of layout…
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…
Existing works on motion deblurring either ignore the effects of depth-dependent blur or work with the assumption of a multi-layered scene wherein each layer is modeled in the form of fronto-parallel plane. In this work, we consider the…
This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…
Room layout estimation from multiple-perspective images is poorly investigated due to the complexities that emerge from multi-view geometry, which requires muti-step solutions such as camera intrinsic and extrinsic estimation, image…
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…
This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…
The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of…
This paper proposes an automated method to detect, group and rectify arbitrarily-arranged coplanar repeated elements via energy minimization. The proposed energy functional combines several features that model how planes with coplanar…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…
We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…
Plane model extraction from three-dimensional point clouds is a necessary step in many different applications such as planar object reconstruction, indoor mapping and indoor localization. Different RANdom SAmple Consensus (RANSAC)-based…
This paper addresses the problem of 3D pose estimation for multiple people in a few calibrated camera views. The main challenge of this problem is to find the cross-view correspondences among noisy and incomplete 2D pose predictions. Most…
In this paper we propose a global optimization-based approach to jointly matching a set of images. The estimated correspondences simultaneously maximize pairwise feature affinities and cycle consistency across multiple images. Unlike…
Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
Scene context is a powerful constraint on the geometry of objects within the scene in cases, such as surveillance, where the camera geometry is unknown and image quality may be poor. In this paper, we describe a method for estimating the…