Related papers: VIO-Aided Structure from Motion Under Challenging …
The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…
Video stabilization aims to mitigate camera shake but faces a fundamental trade-off between geometric robustness and full-frame consistency. While 2D methods suffer from aggressive cropping, 3D techniques are often undermined by fragile…
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods designed for natural scenes typically yield low accuracy or…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
In this work, we enhance a professional end-to-end volumetric video production pipeline to achieve high-fidelity human body reconstruction using only passive cameras. While current volumetric video approaches estimate depth maps using…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…
We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…
Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…
Robust stereo visual-inertial odometry (VIO) remains challenging in low-texture scenes and under abrupt illumination changes, where point features become sparse and unstable, leading to ambiguous association and under-constrained…
Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous…
Feature based visual odometry and SLAM methods require accurate and fast correspondence matching between consecutive image frames for precise camera pose estimation in real-time. Current feature matching pipelines either rely solely on the…
We investigate the possibility of 3D scene reconstruction from two or more overlapping webcam streams. A large, and growing, number of webcams observe places of interest and are publicly accessible. The question naturally arises: can we…
Current non-rigid structure from motion (NRSfM) algorithms are mainly limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many…
The assessment of sewer pipe systems is a highly important, but at the same time cumbersome and error-prone task. We introduce an innovative system based on single-shot structured light modules that facilitates the detection and…
Reconstructing object geometry and material from multiple views typically requires optimization. Differentiable path tracing is an appealing framework as it can reproduce complex appearance effects. However, it is difficult to use due to…
In this paper, we address the problem of dense 3D reconstruction from multiple view images subject to strong lighting variations. In this regard, a new piecewise framework is proposed to explicitly take into account the change of…
We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…
We study how to synthesize novel views of human body from a single image. Though recent deep learning based methods work well for rigid objects, they often fail on objects with large articulation, like human bodies. The core step of…
In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…