Related papers: FastMap: Revisiting Structure from Motion through …
Exploratory analysis of high-dimensional data rarely stops at a single embedding. In practice, analysts rerun dimensionality reduction after changing preprocessing, subsets, or hyperparameters, and standard nonlinear methods can quickly…
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…
There has been extensive progress in the reconstruction and generation of 4D scenes from monocular casually-captured video. While these tasks rely heavily on known camera poses, the problem of finding such poses using structure-from-motion…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
While Structure from Motion (SfM) achieves great success in 3D reconstruction, it still meets challenges on large scale scenes. In this work, large scale SfM is deemed as a graph problem, and we tackle it in a divide-and-conquer manner.…
Map-based methods for autonomous racing estimate the vehicle's location, which is used to follow a high-level plan. While map-based optimisation methods demonstrate high-performance results, they are limited by requiring a map of the…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
In this work, we present a camera geopositioning system based on matching a query image against a database with panoramic images. For matching, our system uses memory vectors aggregated from global image descriptors based on convolutional…
Structure-from-Motion (SfM), a task aiming at jointly recovering camera poses and 3D geometry of a scene given a set of images, remains a hard problem with still many open challenges despite decades of significant progress. The traditional…
Despite the impressive results achieved by many existing Structure from Motion (SfM) approaches, there is still a need to improve the robustness, accuracy, and efficiency on large-scale scenes with many outlier matches and sparse view…
3D Gaussian Splatting (3DGS) has emerged as a key rendering pipeline for digital asset creation due to its balance between efficiency and visual quality. To address the issues of unstable pose estimation and scene representation distortion…
Scene reconstruction in the presence of high-speed motion and low illumination is important in many applications such as augmented and virtual reality, drone navigation, and autonomous robotics. Traditional motion estimation techniques fail…
Recent advances in 3D Gaussian Splatting (3DGS) have focused on accelerating optimization while preserving reconstruction quality. However, many proposed methods entangle implementation-level improvements with fundamental algorithmic…
Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of…
Most existing Multi-Object Tracking (MOT) approaches follow the Tracking-by-Detection paradigm and the data association framework where objects are firstly detected and then associated. Although deep-learning based method can noticeably…
We present TrackGS, a novel method to integrate global feature tracks with 3D Gaussian Splatting (3DGS) for COLMAP-free novel view synthesis. While 3DGS delivers impressive rendering quality, its reliance on accurate precomputed camera…
Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…
Structure-from-Motion (SfM) aims to recover 3D scene structures and camera poses based on the correspondences between input images, and thus the ambiguity caused by duplicate structures (i.e., different structures with strong visual…