相关论文: Non-rigid Reconstruction with a Single Moving RGB-…

Video reconstruction from a single motion-blurred image is a challenging problem, which can enhance the capabilities of existing cameras. Recently, several works addressed this task using conventional imaging and deep learning. Yet, such…

Analyzing human motion is a challenging task with a wide variety of applications in computer vision and in graphics. One such application, of particular importance in computer animation, is the retargeting of motion from one performer to…

We present a novel approach to reconstruct RGB-D indoor scene with plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed by some 3D reconstruction method on the sequence, and generate a…

Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Estimating camera motion in deformable scenes poses a complex and open research challenge. Most existing non-rigid structure from motion techniques assume to observe also static scene parts besides deforming scene parts in order to…

In this work we propose a novel approach to remove undesired objects from RGB-D sequences captured with freely moving cameras, which enables static 3D reconstruction. Our method jointly uses existing information from multiple frames as well…

Deformable 3D Gaussian Splatting (3D-GS) is limited by missing intermediate motion information due to the low temporal resolution of RGB cameras. To address this, we introduce the first approach combining event cameras, which capture…

We build the first system to address the problem of reconstructing in-scene object manipulation from a monocular RGB video. It is challenging due to ill-posed scene reconstruction, ambiguous hand-object depth, and the need for physically…

As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…

Reconstructing dynamic objects from monocular videos is a severely underconstrained and challenging problem, and recent work has approached it in various directions. However, owing to the ill-posed nature of this problem, there has been no…

Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras…

The aim of this paper is to establish a nonlinear variational approach to the reconstruction of moving density images from indirect dynamic measurements. Our approach is to model the dynamics as a hyperelastic deformation of an initial…

We propose an adaptive form of frameless rendering with the potential to dramatically increase rendering speed over conventional interactive rendering approaches. Without the rigid sampling patterns of framed renderers, sampling and…

Rigid structure-from-motion (RSfM) and non-rigid structure-from-motion (NRSfM) have long been treated in the literature as separate (different) problems. Inspired by a previous work which solved directly for 3D scene structure by factoring…

Current methods for dense 3D point tracking in dynamic scenes typically rely on pairwise processing, require known camera poses, or assume temporal ordering of input frames, thereby constraining their flexibility and applicability.…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…