Related papers: ColabSfM: Collaborative Structure-from-Motion by P…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

We demonstrate the use of shape-from-shading (SfS) to improve both the quality and the robustness of 3D reconstruction of dynamic objects captured by a single camera. Unlike previous approaches that made use of SfS as a post-processing…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Both self-supervised depth estimation and Structure-from-Motion (SfM) recover scene depth from RGB videos. Despite sharing a similar objective, the two approaches are disconnected. Prior works of self-supervision backpropagate losses…

This article presents a new method for non-rigidly registering a 3D shape to 2D keypoints observed by a constellation of multiple cameras. Non-rigid registration of a 3D shape to observed 2D keypoints, i.e., Shape-from-Template (SfT), has…

Camera pose estimation is a long-standing computer vision problem that to date often relies on classical methods, such as handcrafted keypoint matching, RANSAC and bundle adjustment. In this paper, we propose to formulate the Structure from…

We investigate the possibility of 3D scene reconstruction from two or more overlapping webcam streams. A large, and growing, number of webcams observe places of interest and are publicly accessible. The question naturally arises: can we…

We propose a framework that extends Blender to exploit Structure from Motion (SfM) and Multi-View Stereo (MVS) techniques for image-based modeling tasks such as sculpting or camera and motion tracking. Applying SfM allows us to determine…

World-wide detailed 2D maps require enormous collective efforts. OpenStreetMap is the result of 11 million registered users manually annotating the GPS location of over 1.75 billion entries, including distinctive landmarks and common urban…

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor…

Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as…

We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…

Structure from motion (SfM) enables us to reconstruct a scene via casual capture from cameras at different viewpoints, and novel view synthesis (NVS) allows us to render a captured scene from a new viewpoint. Both are hard with casual…

Non-Rigid Structure from Motion (NRSfM) refers to the problem of reconstructing cameras and the 3D point cloud of a non-rigid object from an ensemble of images with 2D correspondences. Current NRSfM algorithms are limited from two…

Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

We present Point2SSM, a novel unsupervised learning approach for constructing correspondence-based statistical shape models (SSMs) directly from raw point clouds. SSM is crucial in clinical research, enabling population-level analysis of…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

The images and sounds that we perceive undergo subtle but geometrically consistent changes as we rotate our heads. In this paper, we use these cues to solve a problem we call Sound Localization from Motion (SLfM): jointly estimating camera…

Real-time multi-camera 3D reconstruction is crucial for 3D perception, immersive interaction, and robotics. Existing methods struggle with multi-view fusion, camera extrinsic uncertainty, and scalability for large camera setups. We propose…