相关论文: Joint Layout Estimation and Global Multi-View Regi…

The 3D world limits the human body pose and the human body pose conveys information about the surrounding objects. Indeed, from a single image of a person placed in an indoor scene, we as humans are adept at resolving ambiguities of the…

Outdoor maps and navigation information delivered by modern services and technologies like Google Maps and Garmin navigators have revolutionized the lifestyle of many people. Motivated by the desire for similar navigation systems for indoor…

We present a new approach to the problem of estimating the 3D room layout from a single panoramic image. We represent room layout as three 1D vectors that encode, at each image column, the boundary positions of floor-wall and ceiling-wall,…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

This paper addresses the challenge of reconstructing 3D indoor scenes from multi-view images. Many previous works have shown impressive reconstruction results on textured objects, but they still have difficulty in handling low-textured…

In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modules: an error-based selection module utilizing photometric…

Humans can naturally identify and mentally complete occluded objects in cluttered environments. However, imparting similar cognitive ability to robotics remains challenging even with advanced reconstruction techniques, which models scenes…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

We devise a graph attention network-based approach for learning a scene triangle mesh representation in order to estimate an image camera position in a dynamic environment. Previous approaches built a scene-dependent model that explicitly…

In recent years, 3D Gaussian Splatting (3D-GS)-based scene representation demonstrates significant potential in real-time rendering and training efficiency. However, most existing methods primarily focus on single-map reconstruction, while…

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this…

This paper presents an efficient approach for solving jointly facade registration and semantic segmentation. Progress in facade detection and recognition enable good initialization for the registration of a reference facade to a newly…

Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be…

Recent advances in 3D foundation models have led to growing interest in reconstructing humans and their surrounding environments. However, most existing approaches focus on monocular inputs, and extending them to multi-view settings…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…