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360{\deg} videos have emerged as a promising medium to represent our dynamic visual world. Compared to the "tunnel vision" of standard cameras, their borderless field of view offers a more complete perspective of our surroundings. While…
Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing algorithms either require depth information for the geometric…
Recently, reconstructing scenes from a single panoramic image using advanced 3D Gaussian Splatting (3DGS) techniques has attracted growing interest. Panoramic images offer a 360$\times$ 180 field of view (FoV), capturing the entire scene in…
Novel view synthesis (NVS) boosts immersive experiences in computer vision and graphics. Existing techniques, though progressed, rely on dense multi-view observations, restricting their application. This work takes on the challenge of…
Radiance fields have revolutionized photo-realistic 3D scene visualization by enabling high-fidelity reconstruction of complex environments, making them an ideal match for light field displays. However, integrating these technologies…
In this paper, we address a novel problem of cloning a patch of the source spherical panoramic image to the target spherical panoramic image, which we call 360 panorama cloning. Considering the sphere geometry constraint embedded in…
We tackle a new problem of semantic view synthesis -- generating free-viewpoint rendering of a synthesized scene using a semantic label map as input. We build upon recent advances in semantic image synthesis and view synthesis for handling…
In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…
We are witnessing an explosion of neural implicit representations in computer vision and graphics. Their applicability has recently expanded beyond tasks such as shape generation and image-based rendering to the fundamental problem of…
Most of existing superpixel methods are designed to segment standard planar images as pre-processing for computer vision pipelines. Nevertheless, the increasing number of applications based on wide angle capture devices, mainly generating…
We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…
We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…
In this article we present a visual gyroscope based on equirectangular panoramas. We propose a new pipeline where we take advantage of combining three different methods to obtain a robust and accurate estimation of the attitude of the…
Current polarimetric 3D reconstruction methods, including those in the well-established shape from polarization literature, are all developed under the orthographic projection assumption. In the case of a large field of view, however, this…
A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…
Image stitching algorithms often adopt the global transformation, such as homography, and work well for planar scenes or parallax free camera motions. However, these conditions are easily violated in practice. With casual camera motions,…
Radiance fields have emerged as powerful tools for 3D scene reconstruction. However, casual capture remains challenging due to the narrow field of view of perspective cameras, which limits viewpoint coverage and feature correspondences…
Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV…
Scene understanding from images is a challenging problem encountered in autonomous driving. On the object level, while 2D methods have gradually evolved from computing simple bounding boxes to delivering finer grained results like instance…
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…