相关论文: Towards Building an RGBD-M Scanner

There is widespread interest in estimating the fluorescence properties of natural materials in an image. However, the separation between reflected and fluoresced components is difficult, because it is impossible to distinguish reflected and…

We present a method to capture both 3D shape and spatially varying reflectance with a multi-view photometric stereo (MVPS) technique that works for general isotropic materials. Our algorithm is suitable for perspective cameras and nearby…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

Being able to see beyond the direct line of sight is an intriguing prospective and could benefit a wide variety of important applications. Recent work has demonstrated that time-resolved measurements of indirect diffuse light contain…

We present DetectFusion, an RGB-D SLAM system that runs in real-time and can robustly handle semantically known and unknown objects that can move dynamically in the scene. Our system detects, segments and assigns semantic class labels to…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and extended reality (XR). Nevertheless, current…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…

Multi-sensor fusion has significant potential in perception tasks for both indoor and outdoor environments. Especially under challenging conditions such as adverse weather and low-light environments, the combined use of millimeter-wave…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

We introduce a novel method to obtain high-quality 3D reconstructions from consumer RGB-D sensors. Our core idea is to simultaneously optimize for geometry encoded in a signed distance field (SDF), textures from automatically-selected…

Mixed Reality scene relighting, where virtual changes to lighting conditions realistically interact with physical objects, producing authentic illumination and shadows, can be used in a variety of applications. One such application in real…

3D sensors, also known as RGB-D sensors, utilize depth images where each pixel measures the distance from the camera to objects, using principles like structured light or time-of-flight. Advances in artificial vision have led to affordable…

Decomposing a scene into its shape, reflectance, and illumination is a challenging but important problem in computer vision and graphics. This problem is inherently more challenging when the illumination is not a single light source under…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…

4D millimeter-wave (mmWave) radar has been widely adopted in autonomous driving and robot perception due to its low cost and all-weather robustness. However, point-cloud-based radar representations suffer from information loss due to…

Recently, significant progress has been made in the study of methods for 3D reconstruction from multiple images using implicit neural representations, exemplified by the neural radiance field (NeRF) method. Such methods, which are based on…

Computer vision applications have heavily relied on the linear combination of Lambertian diffuse and microfacet specular reflection models for representing reflected radiance, which turns out to be physically incompatible and limited in…