Related papers: Rendering the Directional TSDF for Tracking and Mu…
Indirect Time-of-Flight (iToF) cameras are a promising depth sensing technology. However, they are prone to errors caused by multi-path interference (MPI) and low signal-to-noise ratio (SNR). Traditional methods, after denoising, mitigate…
Scene Completion is the task of completing missing geometry from a partial scan of a scene. Most previous methods compute an implicit representation from range data using a Truncated Signed Distance Function (T-SDF) computed on a 3D grid as…
Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…
Signed Distance Fields (SDFs) for surface representation are commonly generated offline and subsequently loaded into interactive applications like games. Since they are not updated every frame, they only provide a rigid surface…
Integrating an RGB camera into a ToF imaging system has become a significant technique for perceiving the real world. The RGB guided ToF imaging system is crucial to several applications, including face anti-spoofing, saliency detection,…
We propose a novel 3D spatial representation for data fusion and scene reconstruction. Probabilistic Signed Distance Function (Probabilistic SDF, PSDF) is proposed to depict uncertainties in the 3D space. It is modeled by a joint…
Accurate and compact representation of signed distance functions (SDFs) of implicit surfaces is crucial for efficient storage, computation, and downstream processing of 3D geometry. In this work, we propose a general learning method for…
We present a novel method to track 3D models in color and depth data. To this end, we introduce approximations that accelerate the state-of-the-art in region-based tracking by an order of magnitude while retaining similar accuracy.…
Discriminatively learned correlation filters (DCF) have been widely used in online visual tracking filed due to its simplicity and efficiency. These methods utilize a periodic assumption of the training samples to construct a circulant data…
The best RGBD trackers provide high accuracy but are slow to run. On the other hand, the best RGB trackers are fast but clearly inferior on the RGBD datasets. In this work, we propose a deep depth-aware long-term tracker that achieves…
RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC…
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with…
Given only a set of images, neural implicit surface representation has shown its capability in 3D surface reconstruction. However, as the nature of per-scene optimization is based on the volumetric rendering of color, previous neural…
We present differentiable point-based inverse rendering, DPIR, an analysis-by-synthesis method that processes images captured under diverse illuminations to estimate shape and spatially-varying BRDF. To this end, we adopt point-based…
Accurate and efficient environment representation is crucial for robotic applications such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful representation for encoding distance to…
It is vital to recover 3D geometry from multi-view RGB images in many 3D computer vision tasks. The latest methods infer the geometry represented as a signed distance field by minimizing the rendering error on the field through volume…
We propose a feed-forward method for dense Signed Distance Field (SDF) regression from unstructured image collections in less than three seconds, without camera calibration or post-hoc fusion. Our key insight is that the intermediate…
Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…
It is vital to infer a signed distance function (SDF) in multi-view based surface reconstruction. 3D Gaussian splatting (3DGS) provides a novel perspective for volume rendering, and shows advantages in rendering efficiency and quality.…
Neural radiance fields (NeRF) have driven impressive progress in view synthesis by using ray-traced volumetric rendering. Splatting-based methods such as 3D Gaussian Splatting (3DGS) provide faster rendering by rasterizing 3D primitives.…