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Reconstructing 3D object models is playing an important role in many applications in the field of computer vision. Instead of employing a collection of cameras and/or sensors as in many studies, this paper proposes a simple way to build a…
Structure from Motion (SfM) using imagery that involves extreme appearance changes is yet a challenging task due to a loss of feature repeatability. Using feature correspondences obtained by matching densely extracted convolutional neural…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
In this study, we introduce a novel two-stage technique for decomposing and reconstructing facial features from sparse-view images, a task made challenging by the unique geometry and complex skin reflectance of each individual. To…
We address the problem of mesh reconstruction from live RGB-D video, assuming a calibrated camera and poses provided externally (e.g., by a SLAM system). In contrast to most existing approaches, we do not fuse depth measurements in a volume…
This paper introduces single-image geometric and appearance reconstruction from water reflection photography, i.e., images capturing direct and water-reflected real-world scenes. Water reflection offers an additional viewpoint to the direct…
While Structure-from-Motion (SfM) has seen much progress over the years, state-of-the-art systems are prone to failure when facing extreme viewpoint changes in low-overlap, low-parallax or high-symmetry scenarios. Because capturing images…
Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks. Existing 3D integration methods struggle to bridge this gap…
Reconstructing and understanding 3D structures from a limited number of images is a well-established problem in computer vision. Traditional methods usually break this task into multiple subtasks, each requiring complex transformations…
Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
Typical Structure-from-Motion (SfM) pipelines rely on finding correspondences across images, recovering the projective structure of the observed scene and upgrading it to a metric frame using camera self-calibration constraints. Solving…
We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…
Structure from motion (SfM) is an essential computer vision problem which has not been well handled by deep learning. One of the promising trends is to apply explicit structural constraint, e.g. 3D cost volume, into the network. However,…
We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…
Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…
Even though Non-rigid Structure-from-Motion (NRSfM) has been extensively studied and great progress has been made, there are still key challenges that hinder their broad real-world applications: 1) the inherent motion/rotation ambiguity…
Statistical shape modeling (SSM) is an essential tool for analyzing variations in anatomical morphology. In a typical SSM pipeline, 3D anatomical images, gone through segmentation and rigid registration, are represented using…
3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…
We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…