Related papers: View-Based Luminance Mapping in Open Workplace
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…
Inverse rendering of outdoor scenes from unconstrained image collections is a challenging task, particularly illumination/albedo ambiguities and occlusion of the illumination environment (shadowing) caused by geometry. However, there are…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
The hierarchical structure of 3D scene graphs shows a high relevance for representations purposes, as it fits common patterns from man-made environments. But, additionally, the semantic and geometric information in such hierarchical…
Despite the growing availability of 3D urban datasets, extracting insights remains challenging due to computational bottlenecks and the complexity of interacting with data. In fact, the intricate geometry of 3D urban environments results in…
We present a novel approach for interactive light editing in indoor scenes from a single multi-view scene capture. Our method leverages a generative image-based light decomposition model that factorizes complex indoor scene illumination…
We introduce differentiable indirection -- a novel learned primitive that employs differentiable multi-scale lookup tables as an effective substitute for traditional compute and data operations across the graphics pipeline. We demonstrate…
Object recognition in humans depends primarily on shape cues. We have developed a new approach to measuring the shape recognition performance of a vision system based on nearest neighbor view matching within the system's embedding space.…
We develop a method that recovers the surface, materials, and illumination of a scene from its posed multi-view images. In contrast to prior work, it does not require any additional data and can handle glossy objects or bright lighting. It…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…
Very recently, Window-based Transformers, which computed self-attention within non-overlapping local windows, demonstrated promising results on image classification, semantic segmentation, and object detection. However, less study has been…
This report surveys advances in deep learning-based modeling techniques that address four different 3D indoor scene analysis tasks, as well as synthesis of 3D indoor scenes. We describe different kinds of representations for indoor scenes,…
Local feature matching is essential for many applications, such as localization and 3D reconstruction. However, it is challenging to match feature points accurately in various camera viewpoints and illumination conditions. In this paper, we…
Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…
In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localization and mapping algorithms. This paper discusses the…
Immersive environments have gradually become standard for visualizing and analyzing large or complex datasets that would otherwise be cumbersome, if not impossible, to explore through smaller scale computing devices. However, this type of…
We propose a new approach for controlling the characteristics of certain mesh faces during optimization of high-order curved meshes. The practical goals are tangential relaxation along initially aligned curved boundaries and internal…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…