Related papers: VIO-Aided Structure from Motion Under Challenging …
We present GraphMatch, an approximate yet efficient method for building the matching graph for large-scale structure-from-motion (SfM) pipelines. Unlike modern SfM pipelines that use vocabulary (Voc.) trees to quickly build the matching…
With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse…
The paper introduces an accurate solution to dense orthographic Non-Rigid Structure from Motion (NRSfM) in scenarios with severe occlusions or, likewise, inaccurate correspondences. We integrate a shape prior term into variational…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
Image-based 3D reconstruction is one of the most important tasks in Computer Vision with many solutions proposed over the last few decades. The objective is to extract metric information i.e. the geometry of scene objects directly from…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
On-orbit inspection imagery is crucial as it enables characterization of non-cooperative resident space objects, providing the geometry and structural condition essential for active debris removal and on-orbit servicing mission planning.…
We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…
We present a novel 3D mapping pipeline for large-scale indoor environments. To address the significant challenges in large-scale indoor scenes, such as prevalent occlusions and textureless regions, we propose IM360, a novel approach that…
Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to…
Standard 3D reconstruction pipelines assume stationary world, therefore suffer from `ghost artifacts' whenever dynamic objects are present in the scene. Recent approaches has started tackling this issue, however, they typically either only…
Visual motion estimation is an integral and well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation, which is especially challenging in highly dynamic environments. Such environments not…
Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…
The creation of detailed 3D models is relevant for a wide range of applications such as navigation in three-dimensional space, construction planning or disaster assessment. However, the complex processing and long execution time for…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
We tackle the challenging problem of creating full and accurate three dimensional reconstructions of botanical trees with the topological and geometric accuracy required for subsequent physical simulation, e.g. in response to wind forces.…
This paper presents a novel image reconstruction pipeline for three-gamma (3-{\gamma}) positron emission tomography (PET) aimed at improving spatial resolution and reducing noise in nuclear medicine; the proposed Direct3{\gamma} pipeline…