Related papers: Interacted Planes Reveal 3D Line Mapping
A depth map can be represented by a set of learned bases and can be efficiently solved in a closed form solution. However, one issue with this method is that it may create artifacts when colour boundaries are inconsistent with depth…
We introduce a new approach for multiscale 3Dsemantic scene completion from voxelized sparse 3D LiDAR scans. As opposed to the literature, we use a 2D UNet backbone with comprehensive multiscale skip connections to enhance feature flow,…
Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its…
Aligning two partially-overlapped 3D line reconstructions in Euclidean space is challenging, as we need to simultaneously solve correspondences and relative pose between line reconstructions. This paper proposes a neural network based…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
Minimal parametrization of 3D lines plays a critical role in camera localization and structural mapping. Existing representations in robotics and computer vision predominantly handle independent lines, overlooking structural regularities…
Generating high-fidelity 3D geometries that satisfy specific parameter constraints has broad applications in design and engineering. However, current methods typically rely on large training datasets and struggle with controllability and…
In this paper, we propose a learning-based approach to the task of automatically extracting a "wireframe" representation for images of cluttered man-made environments. The wireframe (see Fig. 1) contains all salient straight lines and their…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…
Line-intensity mapping (LIM) is an emerging observational technique that is used to observe the universe on large scales at low resolution through spectral line emission. Stacking analyses coadd cutouts of LIM data on positions of known…
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…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…
Although Multimodal Large Language Models have achieved remarkable progress, they still struggle with complex 3D spatial reasoning due to the reliance on 2D visual priors. Existing approaches typically mitigate this limitation either…
Spatial join is a fundamental operation in spatial databases. With the rapid growth of 3D data in applications such as LiDAR-based object detection and 3D digital pathology, there is an increasing need to support spatial join over 3D…
Visual information plays an indispensable role in our daily interactions with environment. Such information is manipulated for a wide range of purposes spanning from basic object and material perception to complex gesture interpretations.…
Recent advances in 3D scene reconstruction enable real-time viewing in virtual and augmented reality. To support interactive operations for better immersiveness, such as moving or editing objects, 3D scene inpainting methods are proposed to…
The advances in 3D reconstruction technology, such as photogrammetry and LiDAR scanning, have made it easier to reconstruct accurate and detailed 3D models for urban scenes. Nevertheless, these reconstructed models often contain a large…