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Recovering 3D geometry of underwater scenes is challenging because of non-linear refraction of light at the water-air interface caused by the camera housing. We present a light field-based approach that leverages properties of angular…
Shape from Polarization (SfP) estimates surface normals using photos captured at different polarizer rotations. Fundamentally, the SfP model assumes that light is reflected either diffusely or specularly. However, this model is not valid…
Accurately capturing the full-range response of structures is crucial in structural health monitoring (SHM) for ensuring safety and operational integrity. However, limited sensor deployment due to cost, accessibility, or scale often hinders…
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…
This paper presents an accurate and robust Structure-from-Motion (SfM) pipeline named LiVisSfM, which is an SfM-based reconstruction system that fully combines LiDAR and visual cues. Unlike most existing LiDAR-inertial odometry (LIO) and…
Underwater scene reconstruction is essential for immersive exploration of aquatic environments, yet remains challenging due to complex participating-media effects such as absorption and scattering, as well as the limited field of view (FoV)…
In this paper, we present a new system for live collaborative dense surface reconstruction. Cooperative robotics, multi participant augmented reality and human-robot interaction are all examples of situations where collaborative mapping can…
Reconstructing an object's high-quality 3D shape with inherent spectral reflectance property, beyond typical device-dependent RGB albedos, opens the door to applications requiring a high-fidelity 3D model in terms of both geometry and…
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the…
City-scale 3D surface reconstruction from multiview images for downstream 3D simulation, poses highly challenging problems due to the scale and complexity of urban scenes. Existing city-scale 3D reconstruction methods based on NeRF,…
We present Large Inverse Rendering Model (LIRM), a transformer architecture that jointly reconstructs high-quality shape, materials, and radiance fields with view-dependent effects in less than a second. Our model builds upon the recent…
Due to the unique characteristics of underwater environments, accurate 3D reconstruction of underwater objects poses a challenging problem in tasks such as underwater exploration and mapping. Traditional methods that rely on multiple sensor…
Our world is full of identical objects (\emphe.g., cans of coke, cars of same model). These duplicates, when seen together, provide additional and strong cues for us to effectively reason about 3D. Inspired by this observation, we introduce…
3D reconstruction from a single RGB image is a challenging problem in computer vision. Previous methods are usually solely data-driven, which lead to inaccurate 3D shape recovery and limited generalization capability. In this work, we focus…
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is…
Recently, the emergence of diffusion models has opened up new opportunities for single-view reconstruction. However, all the existing methods represent the target object as a closed mesh devoid of any structural information, thus neglecting…
Accurate 3D reconstruction from multi-view images is essential for downstream robotic tasks such as navigation, manipulation, and environment understanding. However, obtaining precise camera poses in real-world settings remains challenging,…
We present a novel approach for real-time joint reconstruction of 3D scene motion and geometry from binocular stereo videos. Our approach is based on a novel variational halfway-domain scene flow formulation, which allows us to obtain…
Several methods have been proposed for large-scale 3D reconstruction from large, unorganized image collections. A large reconstruction problem is typically divided into multiple components which are reconstructed independently using…
Underwater scene reconstruction is a critical tech-nology for underwater operations, enabling the generation of 3D models from images captured by underwater platforms. However, the quality of underwater images is often degraded due to…