Related papers: Plane Pair Matching for Efficient 3D View Registra…
Detecting multiple planes in images is a challenging problem, but one with many applications. Recent work such as J-Linkage and Ordered Residual Kernels have focussed on developing a domain independent approach to detect multiple…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…
In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…
Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic…
Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…
We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…
Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…
In this paper we present a new approach for marker less human motion capture from conventional camera feeds. The aim of our study is to recover 3D positions of key points of the body that can serve for gait analysis. Our approach is based…
Despite recent advances, estimating optical flow remains a challenging problem in the presence of illumination change, large occlusions or fast movement. In this paper, we propose a novel optical flow estimation framework which can provide…
Nearly all 3D displays need calibration for correct rendering. More often than not, the optical elements in a 3D display are misaligned from the designed parameter setting. As a result, 3D magic does not perform well as intended. The…
We have implemented a method that detects planar regions from 3D scan data using Random Sample Consensus (RANSAC) algorithm to address the issue of a trade-off between the scanning speed and the point density of 3D scanning. However, the…
Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…
Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…
We present an approach for the planar surface reconstruction of a scene from images with limited overlap. This reconstruction task is challenging since it requires jointly reasoning about single image 3D reconstruction, correspondence…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…