相关论文: Scalable Dense Monocular Surface Reconstruction

The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approach based on an object-level SLAM system. To obtain the…

Three-dimensional (3D) object reconstruction based on differentiable rendering (DR) is an active research topic in computer vision. DR-based methods minimize the difference between the rendered and target images by optimizing both the shape…

Object This study proposes a scale space based algorithm for automated segmentation of single-shot tagged images of modest SNR. Furthermore the algorithm was designed for analysis of discontinuous or shearing types of motion, i.e.…

The goal of this paper is to create a new framework for dense SLAM that is light enough for micro-robot systems based on depth camera and inertial sensor. Feature-based and direct methods are two mainstreams in visual SLAM. Both methods…

We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…

This paper proposes a novel method of estimating the absolute scale of monocular SfM for a multi-modal stereo camera. In the fields of computer vision and robotics, scale estimation for monocular SfM has been widely investigated in order to…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

We present MOSAIC-GS, a novel, fully explicit, and computationally efficient approach for high-fidelity dynamic scene reconstruction from monocular videos using Gaussian Splatting. Monocular reconstruction is inherently ill-posed due to the…

Recently, 3D Gaussian Splatting (3DGS) has attracted widespread attention due to its high-quality rendering, and ultra-fast training and rendering speed. However, due to the unstructured and irregular nature of Gaussian point clouds, it is…

Remarkable strides have been made in reconstructing static scenes or human bodies from monocular videos. Yet, the two problems have largely been approached independently, without much synergy. Most visual SLAM methods can only reconstruct…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Recovery of articulated 3D structure from 2D observations is a challenging computer vision problem with many applications. Current learning-based approaches achieve state-of-the-art accuracy on public benchmarks but are restricted to…

Incrementally recovering 3D dense structures from monocular videos is of paramount importance since it enables various robotics and AR applications. Feature volumes have recently been shown to enable efficient and accurate incremental dense…

Self-supervised monocular depth estimation (MDE) has gained popularity for obtaining depth predictions directly from videos. However, these methods often produce scale invariant results, unless additional training signals are provided.…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

Lensless on-chip microscopy has shown great potential for biomedical imaging due to its large-area and high-throughput imaging capabilities. By combining the pixel super-resolution (PSR) technique, it can improve the resolution beyond the…

Monocular Semantic Scene Completion (MSSC) aims to predict the voxel-wise occupancy and semantic category from a single-view RGB image. Existing methods adopt a single-stage framework that aims to simultaneously achieve visible region…

Motion segmentation from a single moving camera presents a significant challenge in the field of computer vision. This challenge is compounded by the unknown camera movements and the lack of depth information of the scene. While deep…

The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this paper, a motion capturing algorithm is proposed for upper…