Related papers: Optimizing Placements of 360-degree Panoramic Came…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
The surveillance multisensor placement is an important optimization problem that consists of positioning several sensors of different types to maximize the coverage of a determined area while minimizing the cost of the deployment. In this…
Domain adaptation and generative modelling have collectively mitigated the expensive nature of data collection and labelling by leveraging the rich abundance of accurate, labelled data in simulation environments. In this work, we study the…
Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…
A major limitation of current generations of quantum annealers is the sparse connectivity of manufactured qubits in the hardware graph. This technological limitation generated considerable interest, motivating efforts to design efficient…
Omnidirectional images are one of the main sources of information for learning based scene understanding algorithms. However, annotated datasets of omnidirectional images cannot keep the pace of these learning based algorithms development.…
This paper introduces a novel image-based rendering technique for jointly estimating indoor lighting and thermal conditions from paired indoor-outdoor high dynamic range (HDR) panoramas. Our method uses the indoor panorama to estimate the…
We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
360{\deg} videos have emerged as a promising medium to represent our dynamic visual world. Compared to the "tunnel vision" of standard cameras, their borderless field of view offers a more complete perspective of our surroundings. While…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
In this paper, we present a room occupancy sensing solution with unique properties: (i) It is based on an omnidirectional vision camera, capturing rich scene info over a wide angle, enabling to count the number of people in a room and even…
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…
Image matching approaches have been widely used in computer vision applications in which the image-level matching performance of matchers is critical. However, it has not been well investigated by previous works which place more emphases on…
The traditional way of tackling discrete optimization problems is by using local search on suitably defined cost or fitness landscapes. Such approaches are however limited by the slowing down that occurs when the local minima that are a…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
Generating immersive 360{\deg} indoor panoramas from 2D top-down views has applications in virtual reality, interior design, real estate, and robotics. This task is challenging due to the lack of explicit 3D structure and the need for…
Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…
We present a novel method for reconstructing parametric, volumetric, multi-story building models from unstructured, unfiltered indoor point clouds by means of solving an integer linear optimization problem. Our approach overcomes…