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We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
The Bird's-Eye-View (BEV) representation is a critical factor that directly impacts the 3D object detection performance, but the traditional BEV grid representation induces quadratic computational cost as the spatial resolution grows. To…
Recent advancements in 3D object reconstruction from single images have primarily focused on improving the accuracy of object shapes. Yet, these techniques often fail to accurately capture the inter-relation between the object, ground, and…
This research aims to study a self-supervised 3D clothing reconstruction method, which recovers the geometry shape and texture of human clothing from a single image. Compared with existing methods, we observe that three primary challenges…
Reconstructing 3D objects from a single image is an intriguing but challenging problem. One promising solution is to utilize multi-view (MV) 3D reconstruction to fuse generated MV images into consistent 3D objects. However, the generated…
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…
Dense reconstructions often contain errors that prior work has so far minimised using high quality sensors and regularising the output. Nevertheless, errors still persist. This paper proposes a machine learning technique to identify errors…
Wide field-of-view (FOV) cameras, which capture a larger scene area than narrow FOV cameras, are used in many applications including 3D reconstruction, autonomous driving, and video surveillance. However, wide-angle images contain…
In this paper, we define a new problem of recovering the 3D geometry of an object confined in a transparent enclosure. We also propose a novel method for solving this challenging problem. Transparent enclosures pose challenges of multiple…
Event cameras are rapidly emerging as powerful vision sensors for 3D reconstruction, uniquely capable of asynchronously capturing per-pixel brightness changes. Compared to traditional frame-based cameras, event cameras produce sparse yet…
Traditionally, 3D indoor scene reconstruction from posed images happens in two phases: per-image depth estimation, followed by depth merging and surface reconstruction. Recently, a family of methods have emerged that perform reconstruction…
Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…
3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…
Solving the challenging problem of 3D object reconstruction from a single image appropriately gives existing technologies the ability to perform with a single monocular camera rather than requiring depth sensors. In recent years, thanks to…
Light detection and ranging (Lidar) data can be used to capture the depth and intensity profile of a 3D scene. This modality relies on constructing, for each pixel, a histogram of time delays between emitted light pulses and detected photon…
In the past years modern mathematical methods for image analysis have led to a revolution in many fields, from computer vision to scientific imaging. However, some recently developed image processing techniques successfully exploited by…
The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Accurate 3D reconstruction is frequently hindered by visual aliasing, where visually similar but distinct surfaces (aka, doppelgangers), are incorrectly matched. These spurious matches distort the structure-from-motion (SfM) process,…