Related papers: Convex Hull-based Algebraic Constraint for Visual …
Despite impressive results achieved by many on-land visual mapping algorithms in the recent decades, transferring these methods from land to the deep sea remains a challenge due to harsh environmental conditions. Images captured by…
Despite recent advances in semantic Simultaneous Localization and Mapping (SLAM) for terrestrial and aerial applications, underwater semantic SLAM remains an open and largely unaddressed research problem due to the unique sensing modalities…
The Simultaneous Localization and Mapping (SLAM) problem addresses the possibility of a robot to localize itself in an unknown environment and simultaneously build a consistent map of this environment. Recently, cameras have been…
Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense monocular reconstruction. We propose…
Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…
Neural implicit fields have recently emerged as a powerful representation method for multi-view surface reconstruction due to their simplicity and state-of-the-art performance. However, reconstructing thin structures of indoor scenes while…
In this work, we present a new efficient method for convex shape representation, which is regardless of the dimension of the concerned objects, using level-set approaches. Convexity prior is very useful for object completion in computer…
We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…
In feature-based simultaneous localization and mapping (SLAM), line features complement the sparsity of point features, making it possible to map the surrounding environment structure. Existing approaches utilizing line features have…
This paper presents an alternate choice of computing the convex hulls (CHs) for planar point sets. We firstly discard the interior points and then sort the remaining vertices by x- / y- coordinates separately, and later create a group…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
We present a method for recovering the shape and radiance of a scene consisting of multiple people given solely a few images. Multi-human scenes are complex due to additional occlusion and clutter. For single-human settings, existing…
For non-rigid objects, predicting the 3D shape from 2D keypoint observations is ill-posed due to occlusions, and the need to disentangle changes in viewpoint and changes in shape. This challenge has often been addressed by embedding…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…
We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
In this paper, we study the mixed-integer nonlinear set given by a separable quadratic constraint on continuous variables, where each continuous variable is controlled by an additional indicator. This set occurs pervasively in optimization…
Object-level Simultaneous Localization and Mapping (SLAM), which incorporates semantic information for high-level scene understanding, faces challenges of under-constrained optimization due to sparse observations. Prior work has introduced…
We develop mask iterative hard thresholding algorithms (mask IHT and mask DORE) for sparse image reconstruction of objects with known contour. The measurements follow a noisy underdetermined linear model common in the compressive sampling…
Scene coordinate regression (SCR) methods are a family of visual localization methods that directly regress 2D-3D matches for camera pose estimation. They are effective in small-scale scenes but face significant challenges in large-scale…