相关论文: Trajectory Representation and Landmark Projection …

3D reconstruction in dynamic scenes primarily relies on the combination of geometry estimation and matching modules where the latter task is pivotal for distinguishing dynamic regions which can help to mitigate the interference introduced…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…

In motion analysis and understanding it is important to be able to fit a suitable model or structure to the temporal series of observed data, in order to describe motion patterns in a compact way, and to discriminate between them. In an…

Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…

Probabilistic completeness is an important property in motion planning. Although it has been established with clear assumptions for geometric planners, the panorama of completeness results for kinodynamic planners is still incomplete, as…

Temporal consistency is critical in video prediction to ensure that outputs are coherent and free of artifacts. Traditional methods, such as temporal attention and 3D convolution, may struggle with significant object motion and may not…

Trajectory modeling of dense points usually employs implicit deformation fields, represented as neural networks that map coordinates to relate canonical spatial positions to temporal offsets. However, the inductive biases inherent in neural…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

Trajectory reconstruction is the process of inferring the path of a moving object between successive observations. In this paper, we propose a smoothing spline -- which we name the V-spline -- that incorporates position and velocity…

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…

Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…

We introduce a new method for the reconstruction of a function from linear measurements by means of oblique projections. The space spanned by the measurement vectors may be different from the subspace in which the function is reconstructed.…

The detection and tracking of human landmarks in video streams has gained in reliability partly due to the availability of affordable RGB-D sensors. The analysis of such time-varying geometric data is playing an important role in the…

This article presents a new mathematical framework to perform statistical analysis on time-indexed sequences of 2D or 3D shapes. At the core of this statistical analysis is the task of time interpolation of such data. Current models in use…

We propose a novel method for continuous-time feature tracking in event cameras. To this end, we track features by aligning events along an estimated trajectory in space-time such that the projection on the image plane results in maximally…

In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the…

Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential matrix associated with a motion and then extract orientation…

Recent attempts for unsupervised landmark learning leverage synthesized image pairs that are similar in appearance but different in poses. These methods learn landmarks by encouraging the consistency between the original images and the…