Related papers: Plane Pair Matching for Efficient 3D View Registra…

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to…

A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…

Popular 3D scan registration projects, such as Stanford digital Michelangelo or KinectFusion, exploit the high-resolution sensor data for scan alignment. It is particularly challenging to solve the registration of sparse 3D scans in the…

This paper proposes a multi-view collaborative matching strategy for reliable track construction in complex scenarios. We observe that the pairwise matching paradigms applied to image set matching often result in ambiguous estimation when…

This paper introduces an approach for multi-human 3D pose estimation and tracking based on calibrated multi-view. The main challenge lies in finding the cross-view and temporal correspondences correctly even when several human pose…

Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…

We propose a novel method for spatiotemporal multi-camera calibration using freely moving people in multiview videos. Since calibrating multiple cameras and finding matches across their views are inherently interdependent, performing both…

We address the task of aligning CAD models to a video sequence of a complex scene containing multiple objects. Our method can process arbitrary videos and fully automatically recover the 9 DoF pose for each object appearing in it, thus…

We present a mathematical and algorithmic scheme for learning the principal geometric elements in an image or 3D object. We build on recent work that convexifies the basic problem of finding a combination of a small number shapes that…

Low-frequency long-range errors (drift) are an endemic problem in 3D structure from motion, and can often hamper reasonable reconstructions of the scene. In this paper, we present a method to dramatically reduce scale and positional drift…

We introduce LighthouseGS, a practical novel view synthesis framework based on 3D Gaussian Splatting that utilizes simple panorama-style captures from a single mobile device. While convenient, this rotation-dominant motion and narrow…

In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…

We present a multi-camera 3D pedestrian detection method that does not need to train using data from the target scene. We estimate pedestrian location on the ground plane using a novel heuristic based on human body poses and person's…

Capturing and reconstructing a human actor's motion is important for filmmaking and gaming. Currently, motion capture systems with static cameras are used for pixel-level high-fidelity reconstructions. Such setups are costly, require…

We reveal a complete set of constraints that need to be imposed on a set of 3-by-3 matrices to ensure that the matrices represent genuine homographies associated with multiple planes between two views. We also show how to exploit the…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…

We describe a data structure, a rectangular complex, that can be used to represent hyperconvex metric spaces that have the same topology (although not necessarily the same distance function) as subsets of the plane. We show how to use this…