Related papers: Mobile Robotic Multi-View Photometric Stereo
It is critical and meaningful to make image classification since it can help human in image retrieval and recognition, object detection, etc. In this paper, three-sides efforts are made to accomplish the task. First, visual features with…
Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…
Existing approaches for multi-view multi-person 3D pose estimation explicitly establish cross-view correspondences to group 2D pose detections from multiple camera views and solve for the 3D pose estimation for each person. Establishing…
We propose a neural inverse rendering approach that jointly reconstructs geometry, spatially varying reflectance, and lighting conditions from multi-view images captured under varying directional lighting. Unlike prior multi-view…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
Accurate stereo depth estimation plays a critical role in various 3D tasks in both indoor and outdoor environments. Recently, learning-based multi-view stereo methods have demonstrated competitive performance with a limited number of views.…
Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods…
We present an efficient multi-view stereo (MVS) network for 3D reconstruction from multiview images. While previous learning based reconstruction approaches performed quite well, most of them estimate depth maps at a fixed resolution using…
Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…
We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system controls the motion…
Accurate and efficient dense metric depth estimation is crucial for 3D visual perception in robotics and XR. In this paper, we develop a monocular visual-inertial motion and depth (VIMD) learning framework to estimate dense metric depth by…
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…
This paper proposes a novel algorithm of discovering the structure of a kaleidoscopic imaging system that consists of multiple planar mirrors and a camera. The kaleidoscopic imaging system can be recognized as the virtual multi-camera…
Multi-view Stereo (MVS) aims to estimate depth and reconstruct 3D point clouds from a series of overlapping images. Recent learning-based MVS frameworks overlook the geometric information embedded in features and correlations, leading to…
Recent advancements in 3D object reconstruction have been remarkable, yet most current 3D models rely heavily on existing 3D datasets. The scarcity of diverse 3D datasets results in limited generalization capabilities of 3D reconstruction…
Deep multi-view stereo (MVS) methods have been developed and extensively compared on simple datasets, where they now outperform classical approaches. In this paper, we ask whether the conclusions reached in controlled scenarios are still…
Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…
To reconstruct the 3D geometry from calibrated images, learning-based multi-view stereo (MVS) methods typically perform multi-view depth estimation and then fuse depth maps into a mesh or point cloud. To improve the computational…