Related papers: Reducing Drift in Structure From Motion Using Exte…
This work addresses the outlier removal problem in large-scale global structure-from-motion. In such applications, global outlier removal is very useful to mitigate the deterioration caused by mismatches in the feature point matching step.…
Plane feature is a kind of stable landmark to reduce drift error in SLAM system. It is easy and fast to extract planes from dense point cloud, which is commonly acquired from RGB-D camera or lidar. But for stereo camera, it is hard to…
Robots operating at night using conventional vision cameras face significant challenges in reconstruction due to noise-limited images. Previous work has demonstrated that burst-imaging techniques can be used to partially overcome this…
Many man-made objects have intrinsic symmetries and Manhattan structure. By assuming an orthographic projection model, this paper addresses the estimation of 3D structures and camera projection using symmetry and/or Manhattan structure…
We propose a method for jointly estimating the 3D motion, 3D shape, and appearance of highly motion-blurred objects from a video. To this end, we model the blurred appearance of a fast moving object in a generative fashion by parametrizing…
We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an…
We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…
Structure from Motion or the sparse 3D reconstruction out of individual photos is a long studied topic in computer vision. Yet none of the existing reconstruction pipelines fully addresses a progressive scenario where images are only…
The monitoring and management of high-volume feature-rich traffic in large networks offers significant challenges in storage, transmission and computational costs. The predominant approach to reducing these costs is based on performing a…
Multi-view 3D reconstruction, namely, structure-from-motion followed by multi-view stereo, is a fundamental component of 3D computer vision. In general, multi-view 3D reconstruction suffers from an unknown scale ambiguity unless a reference…
Structure-from-Motion is a technology used to obtain scene structure through image collection, which is a fundamental problem in computer vision. For unordered Internet images, SfM is very slow due to the lack of prior knowledge about image…
We present a novel method to estimate the motion matrix between overlapping pairs of 3D views in the context of indoor scenes. We use the Manhattan world assumption to introduce lightweight geometric constraints under the form of planes…
Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as…
The structure from motion (SfM) problem in computer vision is the problem of recovering the three-dimensional ($3$D) structure of a stationary scene from a set of projective measurements, represented as a collection of two-dimensional…
In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…
Robots must reliably interact with refractive objects in many applications; however, refractive objects can cause many robotic vision algorithms to become unreliable or even fail, particularly feature-based matching applications, such as…
Monocular visual SLAM enables 3D reconstruction from internet video and autonomous navigation on resource-constrained platforms, yet suffers from scale drift, i.e., the gradual divergence of estimated scale over long sequences. Existing…
Structure-from-Motion -- the process of simultaneously estimating camera poses and 3D scene structure from a collection of images -- remains a central challenge in computer vision, with many open problems yet to be solved. Recent advances…
We show that the symmetries of image formation by scattering enable graph-theoretic manifold-embedding techniques to extract structural and timing information from simulated and experimental snapshots at extremely low signal. The approach…
3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…