Related papers: Large Scale Photometric Bundle Adjustment
Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…
We propose a novel algorithm for the joint refinement of structure and motion parameters from image data directly without relying on fixed and known correspondences. In contrast to traditional bundle adjustment (BA) where the optimal…
Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…
Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. However, they require a photometric camera calibration in order to achieve competitive results. Hence, the respective algorithm cannot be…
3D reconstruction has been developing all these two decades, from moderate to medium size and to large scale. It's well known that bundle adjustment plays an important role in 3D reconstruction, mainly in Structure from Motion(SfM) and…
Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…
Recent advances in 3D vision have demonstrated the strengths of photometric bundle adjustment. By directly minimizing reprojected pixel errors, instead of geometric reprojection errors, such methods can achieve sub-pixel alignment accuracy…
Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…
It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…
Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D map (3D point cloud) from the input feature tracks. However,…
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…
This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under…
The problem of obtaining dense reconstruction of an object in a natural sequence of images has been long studied in computer vision. Classically this problem has been solved through the application of bundle adjustment (BA). More recently,…
Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…
State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…
Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…
X-ray imaging is a fundamental tool of routine clinical diagnosis. Fluoroscopic imaging can further acquire X-ray images at video frame rates, thus enabling non-invasive in-vivo motion studies of joints, gastrointestinal tract, etc. For…
Photometric bundle adjustment (PBA) is widely used in estimating the camera pose and 3D geometry by assuming a Lambertian world. However, the assumption of photometric consistency is often violated since the non-diffuse reflection is common…
The reconstruction of images from measured data is an increasing field of research. For highly under-determined problems, template-based image reconstruction provides a way of compensating for the lack of sufficient data. A caveat of this…
Recovering 3D geometry of underwater scenes is challenging because of non-linear refraction of light at the water-air interface caused by the camera housing. We present a light field-based approach that leverages properties of angular…