Related papers: Revisiting Rolling Shutter Bundle Adjustment: Towa…
Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-efficient, does not directly optimize the mapping…
We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the…
Phase-shifting profilometry (PSP) enables high-accuracy 3D reconstruction but remains highly susceptible to object motion. Although numerous studies have explored compensation for motion-induced errors, residual inaccuracies still persist,…
Most consumer cameras use rolling shutter (RS) exposure, which often leads to distortions such as skew and jelly effects. These videos are further limited by bandwidth and frame rate constraints. In this paper, we explore the potential of…
Previous evaluations on 6DoF object pose tracking have presented obvious limitations along with the development of this area. In particular, the evaluation protocols are not unified for different methods, the widely-used YCBV dataset…
In this paper, we present a spatial rectifier to estimate surface normals of tilted images. Tilted images are of particular interest as more visual data are captured by arbitrarily oriented sensors such as body-/robot-mounted cameras.…
Image restoration aims to restore high-quality images from degraded counterparts and has seen significant advancements through deep learning techniques. The technique has been widely applied to mobile devices for tasks such as mobile…
DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…
In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapping planar elements. Conventional RGB-D visual…
Most consumer cameras are equipped with electronic rolling shutter, leading to image distortions when the camera moves during image capture. We explore a surprisingly simple camera configuration that makes it possible to undo the rolling…
Camera pose estimation or camera relocalization is the centerpiece in numerous computer vision tasks such as visual odometry, structure from motion (SfM) and SLAM. In this paper we propose a neural network approach with a graph transformer…
Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…
Camera pose refinement aims at improving the accuracy of initial pose estimation for applications in 3D computer vision. Most refinement approaches rely on 2D-3D correspondences with specific descriptors or dedicated networks, requiring…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…
We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…
This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
Bundle adjustment is an important global optimization step in many structure from motion pipelines. Performance is dependent on the speed of the linear solver used to compute steps towards the optimum. For large problems, the current state…
With the ubiquity of rolling shutter (RS) cameras, it is becoming increasingly attractive to recover the latent global shutter (GS) video from two consecutive RS frames, which also places a higher demand on realism. Existing solutions,…