Related papers: Structure from Motion-based Motion Estimation and …
Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the lack of texture and…
For the task of mobility analysis of 3D shapes, we propose joint analysis for simultaneous motion part segmentation and motion attribute estimation, taking a single 3D model as input. The problem is significantly different from those…
Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces…
We propose a framework that can deform an object in a 2D image as it exists in 3D space. Most existing methods for 3D-aware image manipulation are limited to (1) only changing the global scene information or depth, or (2) manipulating an…
This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…
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…
Estimating the shape and motion state of the myocardium is essential in diagnosing cardiovascular diseases.However, cine magnetic resonance (CMR) imaging is dominated by 2D slices, whose large slice spacing challenges inter-slice shape…
An optical imager that exploits off-center image rotation to encode both the lateral and depth coordinates of point sources in a single snapshot can perform 3D localization and tracking of space debris. When actively illuminated, unresolved…
Non-Rigid structure from motion (NRSfM), is a long standing and central problem in computer vision and its solution is necessary for obtaining 3D information from multiple images when the scene is dynamic. A main issue regarding the further…
Space debris, also known as "space junk," presents a significant challenge for all space exploration activities, including those involving human-onboard spacecraft such as SpaceX's Crew Dragon and the International Space Station. The amount…
We study the challenging problem of recovering detailed motion from a single motion-blurred image. Existing solutions to this problem estimate a single image sequence without considering the motion ambiguity for each region. Therefore, the…
In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
Scene and object reconstruction is an important problem in robotics, in particular in planning collision-free trajectories or in object manipulation. This paper compares two strategies for the reconstruction of nonvisible parts of the…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
Non-rigid structure-from-motion (NRSfM), a promising technique for addressing the mapping challenges in monocular visual deformable simultaneous localization and mapping (SLAM), has attracted growing attention. We introduce a novel method,…
Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…