Related papers: Rooms from Motion: Un-posed Indoor 3D Object Detec…
3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…
We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…
We propose a new structure-from-motion framework to recover accurate camera poses and point clouds from unordered images. Traditional SfM systems typically rely on the successful detection of repeatable keypoints across multiple views as…
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…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
This paper presents a neural incremental Structure-from-Motion (SfM) approach, Level-S$^2$fM, which estimates the camera poses and scene geometry from a set of uncalibrated images by learning coordinate MLPs for the implicit surfaces and…
Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…
We study inferring 3D object-centric scene representations from a single image. While recent methods have shown potential in unsupervised 3D object discovery from simple synthetic images, they fail to generalize to real-world scenes with…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…
Most of the previous 3D human pose estimation work relied on the powerful memory capability of the network to obtain suitable 2D-3D mappings from the training data. Few works have studied the modeling of human posture deformation in motion.…
An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…
Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
Structure from Motion (SfM) estimates camera poses and reconstructs point clouds, forming a foundation for various tasks. However, applying SfM to driving scenes captured by multi-camera systems presents significant difficulties, including…
This paper presents a method of estimating the geometry of a room and the 3D pose of objects from a single 360-degree panorama image. Assuming Manhattan World geometry, we formulate the task as a Bayesian inference problem in which we…
We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…