Related papers: Pixel-Perfect Structure-from-Motion with Featureme…

Successful video analysis relies on accurate recognition of pixels across frames, and frame reconstruction methods based on video correspondence learning are popular due to their efficiency. Existing frame reconstruction methods, while…

Visual Localization is one of the key enabling technologies for autonomous driving and augmented reality. High quality datasets with accurate 6 Degree-of-Freedom (DoF) reference poses are the foundation for benchmarking and improving…

In this paper we present an efficient method for aggregating binary feature descriptors to allow compact representation of 3D scene model in incremental structure-from-motion and SLAM applications. All feature descriptors linked with one 3D…

Structure-from-motion (SfM) largely relies on feature tracking. In image sequences, if disjointed tracks caused by objects moving in and out of the field of view, occasional occlusion, or image noise, are not handled well, corresponding SfM…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

The perspective camera and the isometric surface prior have recently gathered increased attention for Non-Rigid Structure-from-Motion (NRSfM). Despite the recent progress, several challenges remain, particularly the computational complexity…

Self-supervised multi-frame depth estimation achieves high accuracy by computing matching costs of pixel correspondences between adjacent frames, injecting geometric information into the network. These pixel-correspondence candidates are…

Accurate 3D reconstruction is frequently hindered by visual aliasing, where visually similar but distinct surfaces (aka, doppelgangers), are incorrectly matched. These spurious matches distort the structure-from-motion (SfM) process,…

Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and,…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

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…

We present a learning framework that learns to recover the 3D shape, pose and texture from a single image, trained on an image collection without any ground truth 3D shape, multi-view, camera viewpoints or keypoint supervision. We approach…

Scale-invariance, good localization and robustness to noise and distortions are the main properties that a local feature detector should possess. Most existing local feature detectors find excessive unstable feature points that increase the…

This paper is about reducing the cost of building good large-scale 3D reconstructions post-hoc. We render 2D views of an existing reconstruction and train a convolutional neural network (CNN) that refines inverse-depth to match a…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

Models for near-rigid shape matching are typically based on distance-related features, in order to infer matches that are consistent with the isometric assumption. However, real shapes from image datasets, even when expected to be related…

Inferring 3D locations and shapes of multiple objects from a single 2D image is a long-standing objective of computer vision. Most of the existing works either predict one of these 3D properties or focus on solving both for a single object.…

This paper studies the problem of how to choose good viewpoints for taking photographs of architectures. We achieve this by learning from professional photographs of world famous landmarks that are available on the Internet. Unlike previous…

Rendering realistic images from 3D reconstruction is an essential task of many Computer Vision and Robotics pipelines, notably for mixed-reality applications as well as training autonomous agents in simulated environments. However, the…