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Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…
We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…
This paper deals with 3D reconstruction of seabirds which recently came into focus of environmental scientists as valuable bio-indicators for environmental change. Such 3D information is beneficial for analyzing the bird's behavior and…
Recent advances in data-driven geometric multi-view 3D reconstruction foundation models (e.g., DUSt3R) have shown remarkable performance across various 3D vision tasks, facilitated by the release of large-scale, high-quality 3D datasets.…
Monocular scene reconstruction is essential for modern applications such as robotics or autonomous driving. Although stereo methods usually result in better accuracy than monocular methods, they are more expensive and more difficult to…
Most 3D reconstruction methods may only recover scene properties up to a global scale ambiguity. We present a novel approach to single view metrology that can recover the absolute scale of a scene represented by 3D heights of objects or…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
We propose an approach for reconstructing free-moving object from a monocular RGB video. Most existing methods either assume scene prior, hand pose prior, object category pose prior, or rely on local optimization with multiple sequence…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
This paper addresses the problem of reconstructing the motion trajectories of the individuals in a large collection of flying objects using two temporally synchronized and geometrically calibrated cameras. The 3D trajectory reconstruction…
Pipe inspection is a critical task for many industries and infrastructure of a city. The 3D information of a pipe can be used for revealing the deformation of the pipe surface and position of the camera during the inspection. In this paper,…
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…
Monocular 3D estimation is crucial for visual perception. However, current methods fall short by relying on oversimplified assumptions, such as pinhole camera models or rectified images. These limitations severely restrict their general…
Recovering dense and long-range pixel motion in videos is a challenging problem. Part of the difficulty arises from the 3D-to-2D projection process, leading to occlusions and discontinuities in the 2D motion domain. While 2D motion can be…
Existing inverse physics methods recover physical parameters from multi-view videos, where geometric constraints across views resolve scale and 3D structure. In monocular settings, however, such constraints are absent, leading to severe…
Recovering 4D from monocular video, which jointly estimates dynamic geometry and camera poses, is an inevitably challenging problem. While recent pointmap-based 3D reconstruction methods (e.g., DUSt3R) have made great progress in…
This paper proposes a fast and online method for jointly performing 3D multi-object tracking and pose estimation using multiple monocular cameras. Our algorithm requires only 2D bounding box and pose detections, eliminating the need for…
Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…
This paper addresses the challenge of novel-view synthesis and motion reconstruction of dynamic scenes from monocular video, which is critical for many robotic applications. Although Neural Radiance Fields (NeRF) and 3D Gaussian Splatting…
The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…