Related papers: Plane Pair Matching for Efficient 3D View Registra…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…
Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…
The completeness of 3D models is still a challenging problem in multi-view stereo (MVS) due to the unreliable photometric consistency in low-textured areas. Since low-textured areas usually exhibit strong planarity, planar models are…
This paper presents an unsupervised approach that leverages raw aerial videos to learn to estimate planar homographic transformation between consecutive video frames. Previous learning-based estimators work on pairs of images to estimate…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
The ubiquitous planes and structural consistency are the most apparent features of indoor multi-story Buildings compared with outdoor environments. In this paper, we propose a tightly coupled LiDAR-Inertial 3D SLAM framework with plane…
3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…
Dense 3D convolutions provide high accuracy for perception but are too computationally expensive for real-time robotic systems. Existing tri-plane methods rely on 2D image features with interpolation, point-wise queries, and implicit MLPs,…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…
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…
We propose to investigate detecting and characterizing the 3D planar articulation of objects from ordinary videos. While seemingly easy for humans, this problem poses many challenges for computers. We propose to approach this problem by…
This paper presents a neural network built upon Transformers, namely PlaneTR, to simultaneously detect and reconstruct planes from a single image. Different from previous methods, PlaneTR jointly leverages the context information and the…
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement from a miniature optical time-of-flight sensor. The key to our…
Location recognition is commonly treated as visual instance retrieval on "street view" imagery. The dataset items and queries are panoramic views, i.e. groups of images taken at a single location. This work introduces a novel…
Visual odometry algorithms tend to degrade when facing low-textured scenes -from e.g. human-made environments-, where it is often difficult to find a sufficient number of point features. Alternative geometrical visual cues, such as lines,…
Camera-radar fusion offers a robust and low-cost alternative to Camera-lidar fusion for the 3D object detection task in real-time under adverse weather and lighting conditions. However, currently, in the literature, it is possible to find…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…