相关论文: Three-dimensional planar model estimation using mu…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

We study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…

Piece-wise planar 3D reconstruction simultaneously segments plane instances and recovers their 3D plane parameters from an image, which is particularly useful for indoor or man-made environments. Efficient reconstruction of 3D planes…

We propose a new algorithm for finding an unknown number of geometric models, e.g., homographies. The problem is formalized as finding dominant model instances progressively without forming crisp point-to-model assignments. Dominant…

A new algorithm is proposed to accelerate RANSAC model quality calculations. The method is based on partitioning the joint correspondence space, e.g., 2D-2D point correspondences, into a pair of regular grids. The grid cells are mapped by…

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…

Advanced 3D metrology technologies such as Coordinate Measuring Machine (CMM) and laser 3D scanners have facilitated the collection of massive point cloud data, beneficial for process monitoring, control and optimization. However, due to…

3D urban reconstruction of buildings from remotely sensed imagery has drawn significant attention during the past two decades. While aerial imagery and LiDAR provide higher resolution, satellite imagery is cheaper and more efficient to…

We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…

This paper presents a novel approach for structure-preserving planar simplification of indoor scene point clouds for both simulated and real-world environments. Initially, the scene point cloud undergoes preprocessing steps, including noise…

RANSAC and its variants are widely used for robust estimation, however, they commonly follow a greedy approach to finding the highest scoring model while ignoring other model hypotheses. In contrast, Iteratively Reweighted Least Squares…

Plane detection in 3D point clouds is a crucial pre-processing step for applications such as point cloud segmentation, semantic mapping and SLAM. In contrast to many recent plane detection methods that are only applicable on organized point…

Room layout estimation from multiple-perspective images is poorly investigated due to the complexities that emerge from multi-view geometry, which requires muti-step solutions such as camera intrinsic and extrinsic estimation, image…

We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…

We present a novel method to estimate the motion matrix between overlapping pairs of 3D views in the context of indoor scenes. We use the Manhattan world assumption to introduce lightweight geometric constraints under the form of planes…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

In this paper, we develop a new method to automatically convert 2D line drawings from three orthographic views into 3D CAD models. Existing methods for this problem reconstruct 3D models by back-projecting the 2D observations into 3D space…

This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural…

Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…