相关论文: View Selection with Geometric Uncertainty Modeling

Accurate geometric surface reconstruction, providing essential environmental information for navigation and manipulation tasks, is critical for enabling robotic self-exploration and interaction. Recently, 3D Gaussian Splatting (3DGS) has…

Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion.…

Spatial consistency is a fundamental property of the visual world and a key requirement for models that aim to understand physical reality. Despite recent advances, multimodal large language models (MLLMs) often struggle to reason about 3D…

The process of 3D scene reconstruction can be affected by numerous uncertainty sources in real-world scenes. While Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (GS) achieve high-fidelity rendering, they lack built-in mechanisms…

Geometric model fitting is a fundamental research topic in computer vision and it aims to fit and segment multiple-structure data. In this paper, we propose a novel superpixel-guided two-view geometric model fitting method (called SDF),…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

Given a set of points in the plane, the \textsc{General Position Subset Selection} problem is that of finding a maximum-size subset of points in general position, i.e., with no three points collinear. The problem is known to be ${\rm…

Taking an image of an object is at its core a lossy process. The rich information about the three-dimensional structure of the world is flattened to an image plane and decisions such as viewpoint and camera parameters are final and not…

Aerial imagery is increasingly used in Earth science and natural resource management as a complement to labor-intensive ground-based surveys. Aerial systems can collect overlapping images that provide multiple views of each location from…

3D urban scene reconstruction and modelling is a crucial research area in remote sensing with numerous applications in academia, commerce, industry, and administration. Recent advancements in view synthesis models have facilitated…

Uncertainty estimation is essential to make neural networks trustworthy in real-world applications. Extensive research efforts have been made to quantify and reduce predictive uncertainty. However, most existing works are designed for…

Recent advances in diffusion models have significantly improved 3D generation, enabling the use of assets generated from an image for embodied AI simulations. However, the one-to-many nature of the image-to-3D problem limits their use due…

In this paper, we study a 2D tomography problem for point source models with random unknown view angles. Rather than recovering the projection angles, we reconstruct the model through a set of rotation-invariant features that are estimated…

Platforms such as robots, security cameras, drones and satellites are used in multi-view imaging for three-dimensional (3D) recovery by stereoscopy or tomography. Each camera in the setup has a field of view (FOV). Multi-view analysis…

Reconstructing accurate 3D models of large-scale real-world scenes from unstructured, in-the-wild imagery remains a core challenge in computer vision, especially when the input views have little or no overlap. In such cases, existing…

Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…

3D Gaussian Splatting (3DGS) has emerged as a core technique for 3D representation. Its effectiveness largely depends on precise camera poses and accurate point cloud initialization, which are often derived from pretrained Multi-View Stereo…

3D Gaussian Splatting has recently emerged as an efficient solution for high-quality and real-time novel view synthesis. However, its capability for accurate surface reconstruction remains underexplored. Due to the discrete and unstructured…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

Predicting realistic ground views from satellite imagery in urban scenes is a challenging task due to the significant view gaps between satellite and ground-view images. We propose a novel pipeline to tackle this challenge, by generating…