相关论文: De-noising, Stabilizing and Completing 3D Reconstr…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

We present an approach for the planar surface reconstruction of a scene from images with limited overlap. This reconstruction task is challenging since it requires jointly reasoning about single image 3D reconstruction, correspondence…

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…

In this work we present a method to train a plane-aware convolutional neural network for dense depth and surface normal estimation as well as plane boundaries from a single indoor $360^\circ$ image. Using our proposed loss function, our…

3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…

Digital elevation modeling of planetary surfaces is essential for studying past and ongoing geological processes. Wide-angle imagery acquired during spacecraft descent promises to offer a low-cost option for high-resolution terrain…

Neural implicit modeling permits to achieve impressive 3D reconstruction results on small objects, while it exhibits significant limitations in large indoor scenes. In this work, we propose a novel neural implicit modeling method that…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Creating geometric abstracted models from image-based scene reconstructions is difficult due to noise and irregularities in the reconstructed model. In this paper, we present a geometric modeling method for noisy reconstructions dominated…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…

Reflective and textureless surfaces such as windows, mirrors, and walls can be a challenge for object and scene reconstruction. These surfaces are often poorly reconstructed and filled with depth discontinuities and holes, making it…

3D plane reconstruction from a single image is a crucial yet challenging topic in 3D computer vision. Previous state-of-the-art (SOTA) methods have focused on training their system on a single dataset from either indoor or outdoor domain,…