Related papers: Floorplan-Aware Camera Poses Refinement
The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…
Although COLMAP has long remained the predominant method for camera parameter optimization in static scenes, it is constrained by its lengthy runtime and reliance on ground truth (GT) motion masks for application to dynamic scenes. Many…
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…
The reconstruction of indoor scenes from multi-view RGB images is challenging due to the coexistence of flat and texture-less regions alongside delicate and fine-grained regions. Recent methods leverage neural radiance fields aided by…
We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…
The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…
Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and reconstruction quality with chamfer distance. In this work…
We describe a learning-based system that estimates the camera position and orientation from a single input image relative to a known environment. The system is flexible w.r.t. the amount of information available at test and at training…
Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…
We address the task of converting a floorplan and a set of associated photos of a residence into a textured 3D mesh model, a task which we call Plan2Scene. Our system 1) lifts a floorplan image to a 3D mesh model; 2) synthesizes surface…
In this work we present a method to train a plane-aware convolutional neural network for dense depth and surface normal estimation as well as plane boundaries from a single indoor $360^\circ$ image. Using our proposed loss function, our…
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…
Object tracking is a key challenge of computer vision with various applications that all require different architectures. Most tracking systems have limitations such as constraining all movement to a 2D plane and they often track only one…
This paper presents a new approach to recognize elements in floor plan layouts. Besides walls and rooms, we aim to recognize diverse floor plan elements, such as doors, windows and different types of rooms, in the floor layouts. To this…
Recent advances in the area of plane segmentation from single RGB images show strong accuracy improvements and now allow a reliable segmentation of indoor scenes into planes. Nonetheless, fine-grained details of these segmentation masks are…
Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…
Simultaneous Localization and Mapping (SLAM) technology enables the construction of environmental maps and localization, serving as a key technique for indoor autonomous navigation of mobile robots. Traditional SLAM methods typically…