Related papers: MGSfM: Multi-Camera Geometry Driven Global Structu…
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…
Dynamic scene reconstruction is a long-term challenge in the field of 3D vision. Recently, the emergence of 3D Gaussian Splatting has provided new insights into this problem. Although subsequent efforts rapidly extend static 3D Gaussian to…
This paper introduces a preprocessing technique to speed up Structure-from-Motion (SfM) based pose estimation, which is critical for real-time applications like augmented reality (AR), virtual reality (VR), and robotics. Our method…
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…
3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…
Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Statistical shape models (SSMs) are state-of-the-art medical image analysis tools for extracting and explaining features across a set of biological structures. However, a principled and robust way to combine shape and pose features has been…
We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…
The evolution of automotive technologies towards more integrated and sophisticated systems requires a shift from traditional distributed architectures to centralized vehicle architectures. This work presents a novel framework that addresses…
We introduce an approach to enhance the novel view synthesis from images taken from a freely moving camera. The introduced approach focuses on outdoor scenes where recovering accurate geometric scaffold and camera pose is challenging,…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
Multimodal image alignment involves finding spatial correspondences between volumes varying in appearance and structure. Automated alignment methods are often based on local optimization that can be highly sensitive to their initialization.…
A recent trend in Non-Rigid Structure-from-Motion (NRSfM) is to express local, differential constraints between pairs of images, from which the surface normal at any point can be obtained by solving a system of polynomial equations. The…
Gesture recognition is a much studied research area which has myriad real-world applications including robotics and human-machine interaction. Current gesture recognition methods have focused on recognising isolated gestures, and existing…
3D Gaussian Splatting (3DGS) is a powerful reconstruction technique, but it needs to be initialized from accurate camera poses and high-fidelity point clouds. Typically, the initialization is taken from Structure-from-Motion (SfM)…
Neural Radiance Fields (NeRF) use multi-view images for 3D scene representation, demonstrating remarkable performance. As one of the primary sources of multi-view images, multi-camera systems encounter challenges such as varying intrinsic…
Accurate Traffic Prediction is a challenging task in intelligent transportation due to the spatial-temporal aspects of road networks. The traffic of a road network can be affected by long-distance or long-term dependencies where existing…
Multifocal microscopy (MFM) offers high-speed three-dimensional imaging through the simultaneous image capture from multiple focal planes. Conventional MFM systems use a fabricated grating in the emission path for a single emission…