相关论文: Single-shot 3D sensing with improved data density

We present a robust multi-camera gymnast tracking, which has been applied at international gymnastics championships for gymnastics judging. Despite considerable progress in multi-camera tracking algorithms, tracking gymnasts presents unique…

Human performance capture is a highly important computer vision problem with many applications in movie production and virtual/augmented reality. Many previous performance capture approaches either required expensive multi-view setups or…

We propose a 3D multi-object tracking (MOT) solution using only 2D detections from monocular cameras, which automatically initiates/terminates tracks as well as resolves track appearance-reappearance and occlusions. Moreover, this approach…

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from…

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms.…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…

Good quality reconstruction and comprehension of a scene rely on 3D estimation methods. The 3D information was usually obtained from images by stereo-photogrammetry, but deep learning has recently provided us with excellent results for…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

The high frame rate is a critical requirement for capturing fast human motions. In this setting, existing markerless image-based methods are constrained by the lighting requirement, the high data bandwidth and the consequent high…

For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…

3D object detection is vital as it would enable us to capture objects' sizes, orientation, and position in the world. As a result, we would be able to use this 3D detection in real-world applications such as Augmented Reality (AR),…

Existing galvanometer-based laser scanning systems are challenging to apply in multi-scale 3D reconstruction because of the difficulty in achieving a balance between high reconstruction accuracy and a wide reconstruction range. This paper…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic participants in the scene. The quintessential challenge in…

In this paper we propose an approach for monocular 3D object detection from a single RGB image, which leverages a novel disentangling transformation for 2D and 3D detection losses and a novel, self-supervised confidence score for 3D…

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the…