Related papers: On Incremental Structure-from-Motion using Lines
Images captured under extremely low light conditions are noise-limited, which can cause existing robotic vision algorithms to fail. In this paper we develop an image processing technique for aiding 3D reconstruction from images acquired in…
The primary contribution of this paper is an efficient Structure from Motion (SfM) solution for oblique unmanned aerial vehicle (UAV) images. First, an algorithm, considering spatial relationship constrains between image footprints, is…
This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given…
Non-Rigid structure from motion (NRSfM), is a long standing and central problem in computer vision and its solution is necessary for obtaining 3D information from multiple images when the scene is dynamic. A main issue regarding the further…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…
Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…
A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…
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…
While Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities in image and video understanding, their ability to comprehend the physical world has become an increasingly important research focus. Despite their…
We present "Humans and Structure from Motion" (HSfM), a method for jointly reconstructing multiple human meshes, scene point clouds, and camera parameters in a metric world coordinate system from a sparse set of uncalibrated multi-view…
Shape-from-Template (SfT) methods estimate 3D surface deformations from a single monocular RGB camera while assuming a 3D state known in advance (a template). This is an important yet challenging problem due to the under-constrained nature…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
While Structure-from-Motion (SfM) has seen much progress over the years, state-of-the-art systems are prone to failure when facing extreme viewpoint changes in low-overlap, low-parallax or high-symmetry scenarios. Because capturing images…
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is…
Visual localization is a critical task in mobile robotics, and researchers are continuously developing new approaches to enhance its efficiency. In this article, we propose a novel approach to improve the accuracy of visual localization…
This paper introduces a preprocessing technique to speed up Structure-from-Motion (SfM) based pose estimation, which is critical for real-time applications like augmented reality (AR), virtual reality (VR), and robotics. Our method…
Video diffusion models have recently shown promise for world modeling through autoregressive frame prediction conditioned on actions. However, they struggle to maintain long-term memory due to the high computational cost associated with…
Non-rigid structure-from-motion (NRSfM) has so far been mostly studied for recovering 3D structure of a single non-rigid/deforming object. To handle the real world challenging multiple deforming objects scenarios, existing methods either…
Rolling-shutter (RS) cameras are ubiquitous, but RS SfM (structure-from-motion) has not been fully solved yet. This work suggests an approach to remedy this: We characterize RS single-view geometry of observed world points or lines.…