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Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

With the boost in the number of spacecraft launches in the current decades, the space debris problem is daily becoming significantly crucial. For sustainable space utilization, the continuous removal of space debris is the most severe…

We introduce the distributed camera model, a novel model for Structure-from-Motion (SfM). This model describes image observations in terms of light rays with ray origins and directions rather than pixels. As such, the proposed model is…

Integration of aerial and ground images has been proved as an efficient approach to enhance the surface reconstruction in urban environments. However, as the first step, the feature point matching between aerial and ground images is…

3D Gaussian Splatting (3DGS) has revolutionized neural rendering with its efficiency and quality, but like many novel view synthesis methods, it heavily depends on accurate camera poses from Structure-from-Motion (SfM) systems. Although…

The primary contribution of this paper is an efficient Structure from Motion (SfM) solution for oblique unmanned aerial vehicle (UAV) images. First, an algorithm, considering spatial relationship constrains between image footprints, is…

In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…

Rigid structure-from-motion (RSfM) and non-rigid structure-from-motion (NRSfM) have long been treated in the literature as separate (different) problems. Inspired by a previous work which solved directly for 3D scene structure by factoring…

SfM (Structure from Motion) has been extensively used for UAV (Unmanned Aerial Vehicle) image orientation. Its efficiency is directly influenced by feature matching. Although image retrieval has been extensively used for match pair…

All current non-rigid structure from motion (NRSfM) algorithms are limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many…

This paper provides a comprehensive survey on pioneer and state-of-the-art 3D scene geometry estimation methodologies based on single, two, or multiple images captured under the omnidirectional optics. We first revisit the basic concepts of…

Aggregate size and shape are key properties for determining quality of aggregate materials used in road construction and transportation geotechnics applications. The composition and packing, layer stiffness, and load response are all…

Structure-from-Motion approaches could be broadly divided into two classes: incremental and global. While incremental manner is robust to outliers, it suffers from error accumulation and heavy computation load. The global manner has the…

In current practice, scene survey is carried out by workers using total stations. The method has high accuracy, but it incurs high costs if continuous monitoring is needed. Techniques based on photogrammetry, with the relatively cheaper…

Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous…

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…

Structure from Motion (SfM) estimates camera poses and reconstructs point clouds, forming a foundation for various tasks. However, applying SfM to driving scenes captured by multi-camera systems presents significant difficulties, including…

Recovery of articulated 3D structure from 2D observations is a challenging computer vision problem with many applications. Current learning-based approaches achieve state-of-the-art accuracy on public benchmarks but are restricted to…

This paper investigates an open research challenge of reconstructing high-quality, large 3D open scenes from images. It is observed existing methods have various limitations, such as requiring precise camera poses for input and dense…

We demonstrate the use of shape-from-shading (SfS) to improve both the quality and the robustness of 3D reconstruction of dynamic objects captured by a single camera. Unlike previous approaches that made use of SfS as a post-processing…