Related papers: Multi-View Optimization of Local Feature Geometry
An important challenge for autonomous agents such as robots is to maintain a spatially and temporally consistent model of the world. It must be maintained through occlusions, previously-unseen views, and long time horizons (e.g., loop…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
In this work, we derive a model for the covariance of the visual residuals in multi-view SfM, odometry and SLAM setups. The core of our approach is the formulation of the residual covariances as a combination of geometric and photometric…
This paper performs a comprehensive and comparative evaluation of the state of the art local features for the task of image based 3D reconstruction. The evaluated local features cover the recently developed ones by using powerful machine…
We consider the problem of consistently matching multiple sets of elements to each other, which is a common task in fields such as computer vision. To solve the underlying NP-hard objective, existing methods often relax or approximate it,…
This paper presents a simple yet very effective data-driven approach to fuse both low-level and high-level local geometric features for 3D rigid data matching. It is a common practice to generate distinctive geometric descriptors by fusing…
The great flexibility of a view camera allows to take high quality photographs that would not be possible any other way. But making a given object into focus is a long and tedious task, although the underlying laws are well known. This…
We consider detecting objects in an image by iteratively selecting from a set of arbitrarily shaped candidate regions. Our generic approach, which we term visual chunking, reasons about the locations of multiple object instances in an image…
With the immense growth of dataset sizes and computing resources in recent years, so-called foundation models have become popular in NLP and vision tasks. In this work, we propose to explore foundation models for the task of keypoint…
The idea of video super resolution is to use different view points of a single scene to enhance the overall resolution and quality. Classical energy minimization approaches first establish a correspondence of the current frame to all its…
The ability to create an accurate three-dimensional reconstruction of a captured scene draws attention to the principles of light fields. This paper presents an approach for light field camera calibration and rectification, based on…
From a single image, visual cues can help deduce intrinsic and extrinsic camera parameters like the focal length and the gravity direction. This single-image calibration can benefit various downstream applications like image editing and 3D…
Many standard approaches for geometric model fitting are based on pre-matched image features. Typically, such pre-matching uses only feature appearances (e.g. SIFT) and a large number of non-unique features must be discarded in order to…
Local geometric descriptors remain an essential component for 3D rigid data matching and fusion. The devise of a rotational invariant local geometric descriptor usually consists of two steps: local reference frame (LRF) construction and…
Problems in differentiable rendering often involve optimizing scene parameters that cause motion in image space. The gradients for such parameters tend to be sparse, leading to poor convergence. While existing methods address this sparsity…
Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…
It is critical and meaningful to make image classification since it can help human in image retrieval and recognition, object detection, etc. In this paper, three-sides efforts are made to accomplish the task. First, visual features with…
Local image feature descriptors have had a tremendous impact on the development and application of computer vision methods. It is therefore unsurprising that significant efforts are being made for learning-based image point descriptors.…