Related papers: Direct and Sparse Deformable Tracking

Advancement of imaging techniques enables consecutive image sequences to be acquired for quality monitoring of manufacturing production lines. Registration for these image sequences is essential for in-line pattern inspection and metrology,…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of understanding dynamic…

A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising…

Despite the success of many advanced tracking methods in this area, tracking targets with drastic variation of appearance such as deformation, view change and partial occlusion in video sequences is still a challenge in practical…

Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…

In this paper, an online adaptive model-free tracker is proposed to track single objects in video sequences to deal with real-world tracking challenges like low-resolution, object deformation, occlusion and motion blur. The novelty lies in…

In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…

Computationally removing the motion blur introduced by camera shake or object motion in a captured image remains a challenging task in computational photography. Deblurring methods are often limited by the fixed global exposure time of the…

Conventional deformable registration methods aim at solving an optimization model carefully designed on image pairs and their computational costs are exceptionally high. In contrast, recent deep learning based approaches can provide fast…

This paper addresses the problem of scale estimation in monocular SLAM by estimating absolute distances between camera centers of consecutive image frames. These estimates would improve the overall performance of classical (not deep) SLAM…

Using (casual) images to texture 3D models is a common way to create realistic 3D models, which is a very important task in computer graphics. However, if the shape of the casual image does not look like the target model or the target…

The problem of deblurring an image when the blur kernel is unknown remains challenging after decades of work. Recently there has been rapid progress on correcting irregular blur patterns caused by camera shake, but there is still much room…

In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between…

We present a method that takes as input a single dual-pixel image, and simultaneously estimates the image's defocus map -- the amount of defocus blur at each pixel -- and recovers an all-in-focus image. Our method is inspired from recent…

Exploring robust and efficient association methods has always been an important issue in multiple-object tracking (MOT). Although existing tracking methods have achieved impressive performance, congestion and frequent occlusions still pose…

While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…

In industrial inspection and component alignment tasks, template matching requires efficient estimation of a target's position and geometric state (rotation and scaling) under complex backgrounds to support precise downstream operations.…

Self-supervised monocular depth estimation approaches either ignore independently moving objects in the scene or need a separate segmentation step to identify them. We propose MonoDepthSeg to jointly estimate depth and segment moving…