Related papers: Plane Pair Matching for Efficient 3D View Registra…
Predicting 3D room layout from single image is a challenging task with many applications. In this paper, we propose a new training and post-processing method for 3D room layout estimation, built on a recent state-of-the-art 3D room layout…
3D single object tracking with LiDAR points is an important task in the computer vision field. Previous methods usually adopt the matching-based or motion-centric paradigms to estimate the current target status. However, the former is…
Low-altitude urban flight planning for small Unmanned Aircraft Systems (UAS) requires accurate vehicle, environment maps, and risk models to assure flight plans consider the urban landscape as well as airspace constraints. This paper…
Plane feature is a kind of stable landmark to reduce drift error in SLAM system. It is easy and fast to extract planes from dense point cloud, which is commonly acquired from RGB-D camera or lidar. But for stereo camera, it is hard to…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…
Integration of aerial and ground images has been proved as an efficient approach to enhance the surface reconstruction in urban environments. However, as the first step, the feature point matching between aerial and ground images is…
Human instance matting aims to estimate an alpha matte for each human instance in an image, which is challenging as it easily fails in complex cases requiring disentangling mingled pixels belonging to multiple instances along hairy and thin…
Existing approaches for multi-view multi-person 3D pose estimation explicitly establish cross-view correspondences to group 2D pose detections from multiple camera views and solve for the 3D pose estimation for each person. Establishing…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
Localization is a crucial capability for mobile robots and autonomous cars. In this paper, we address learning an observation model for Monte-Carlo localization using 3D LiDAR data. We propose a novel, neural network-based observation model…
We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…
The plenoptic camera can capture both angular and spatial information of the rays, enabling 3D reconstruction by single exposure. The geometry of the recovered scene structure is affected by the calibration of the plenoptic camera…
Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…
3D multi-person motion prediction is a highly complex task, primarily due to the dependencies on both individual past movements and the interactions between agents. Moreover, effectively modeling these interactions often incurs substantial…
Estimating positions of world points from features observed in images is a key problem in 3D reconstruction, image mosaicking,simultaneous localization and mapping and structure from motion. We consider a special instance in which there is…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
The growing complexity of spatial and structural information in 3D data makes data inspection and visualization a challenging task. We describe a method to create a planar embedding of 3D treelike structures using their skeleton…
The paper studies planar surface reconstruction of indoor scenes from two views with unknown camera poses. While prior approaches have successfully created object-centric reconstructions of many scenes, they fail to exploit other…
Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…
We present a new approach to rigid-body motion segmentation from two views. We use a previously developed nonlinear embedding of two-view point correspondences into a 9-dimensional space and identify the different motions by segmenting…