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Video-based human pose estimation in crowded scenes is a challenging problem due to occlusion, motion blur, scale variation and viewpoint change, etc. Prior approaches always fail to deal with this problem because of (1) lacking of usage of…

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…

Recovering temporally consistent 3D human body pose, shape and motion from a monocular video is a challenging task due to (self-)occlusions, poor lighting conditions, complex articulated body poses, depth ambiguity, and limited availability…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

We present an algorithm for reconstructing the radiance field of a large-scale scene from a single casually captured video. The task poses two core challenges. First, most existing radiance field reconstruction approaches rely on accurate…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

Estimating camera motion from monocular video is a fundamental problem in computer vision, central to tasks such as SLAM, visual odometry, and structure-from-motion. Existing methods that recover the camera's heading under known rotation,…

Estimating human motion from video is an active research area due to its many potential applications. Most state-of-the-art methods predict human shape and posture estimates for individual images and do not leverage the temporal information…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…

Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, this task is particularly challenging in dynamic…

Synthesizing novel views of dynamic humans from stationary monocular cameras is a specialized but desirable setup. This is particularly attractive as it does not require static scenes, controlled environments, or specialized capture…

The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…