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In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches,…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
The paper exploits weak Manhattan constraints to parse the structure of indoor environments from RGB-D video sequences in an online setting. We extend the previous approach for single view parsing of indoor scenes to video sequences and…
Embeddings mapping high-dimensional discrete input to lower-dimensional continuous vector spaces have been widely adopted in machine learning applications as a way to capture domain semantics. Interviewing 13 embedding users across…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
Computer vision is used in this work to detect lighting elements in buildings with the goal of improving the accuracy of previous methods to provide a precise inventory of the location and state of lamps. Using the framework developed in…
Seeing only a tiny part of the whole is not knowing the full circumstance. Bird's-eye-view (BEV) perception, a process of obtaining allocentric maps from egocentric views, is restricted when using a narrow Field of View (FoV) alone. In this…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Virtual tour among sparse 360$^\circ$ images is widely used while hindering smooth and immersive roaming experiences. The emergence of Neural Radiance Field (NeRF) has showcased significant progress in synthesizing novel views, unlocking…
We live in a 3D world, performing activities and interacting with objects in the indoor environments everyday. Indoor scenes are the most familiar and essential environments in everyone's life. In the virtual world, 3D indoor scenes are…
Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be…
Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Panoramic images provide comprehensive scene information and are suitable for VR applications. Obtaining corresponding depth maps is essential for achieving immersive and interactive experiences. However, panoramic depth estimation presents…
Environment maps are used to simulate reflections off curved objects. We present a technique to reflect a user, or a group of users, in a real environment, onto a virtual object, in a virtual reality application, using the live video feeds…
The Student-Project Allocation problem with preferences over Projects (SPA-P) involves sets of students, projects and lecturers, where the students and lecturers each have preferences over the projects. In this context, we typically seek a…
When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
In this work, we tackle the problem of active camera localization, which controls the camera movements actively to achieve an accurate camera pose. The past solutions are mostly based on Markov Localization, which reduces the position-wise…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…