Related papers: VIO-Aided Structure from Motion Under Challenging …
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…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
We present a novel Structure from Motion pipeline that is capable of reconstructing accurate camera poses for panorama-style video capture without prior camera intrinsic calibration. While panorama-style capture is common and convenient,…
Pipe inspection is a critical task for many industries and infrastructure of a city. The 3D information of a pipe can be used for revealing the deformation of the pipe surface and position of the camera during the inspection. In this paper,…
Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…
In this paper we introduce a vision-aided navigation (VAN) pipeline designed to support ground navigation of autonomous aircraft. The proposed algorithm combines the computational efficiency of indirect methods with the robustness of direct…
Structure-from-Motion (SfM), a task aiming at jointly recovering camera poses and 3D geometry of a scene given a set of images, remains a hard problem with still many open challenges despite decades of significant progress. The traditional…
We introduce a comprehensive benchmark for local features and robust estimation algorithms, focusing on the downstream task -- the accuracy of the reconstructed camera pose -- as our primary metric. Our pipeline's modular structure allows…
Three-dimensional (3D) reconstruction from two-dimensional images is an active research field in computer vision, with applications ranging from navigation and object tracking to segmentation and three-dimensional modeling. Traditionally,…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
There has been extensive progress in the reconstruction and generation of 4D scenes from monocular casually-captured video. While these tasks rely heavily on known camera poses, the problem of finding such poses using structure-from-motion…
Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often…
Reconstructing 3D geometry from satellite imagery is an important topic of research. However, disparities exist between how this 3D reconstruction problem is handled in the remote sensing context and how multi-view reconstruction pipelines…
Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of…
This paper presents an accurate and robust Structure-from-Motion (SfM) pipeline named LiVisSfM, which is an SfM-based reconstruction system that fully combines LiDAR and visual cues. Unlike most existing LiDAR-inertial odometry (LIO) and…
Accurate 3D foot reconstruction is crucial for personalized orthotics, digital healthcare, and virtual fittings. However, existing methods struggle with incomplete scans and anatomical variations, particularly in self-scanning scenarios…
The implementation of a Structure-from-Motion (SfM) pipeline from a synthetically generated scene as well as the investigation of the faithfulness of diverse reconstructions is the subject of this project. A series of different SfM…
Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…
Feature-based visual structure and motion reconstruction pipelines, common in visual odometry and large-scale reconstruction from photos, use the location of corresponding features in different images to determine the 3D structure of the…
The reconstruction of accurate three-dimensional environment models is one of the most fundamental goals in the field of photogrammetry. Since satellite images provide suitable properties for obtaining large-scale environment…