相关论文: Rolling-Shutter-Aware Differential SfM and Image R…

We present a novel Structure from Motion pipeline that is capable of reconstructing accurate camera poses for panorama-style video capture without prior camera intrinsic calibration. While panorama-style capture is common and convenient,…

We study the inverse problem of estimating n locations $t_1, ..., t_n$ (up to global scale, translation and negation) in $R^d$ from noisy measurements of a subset of the (unsigned) pairwise lines that connect them, that is, from noisy…

Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images…

We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…

Structure and continuous motion estimation from point correspondences is a fundamental problem in computer vision that has been powered by well-known algorithms such as the familiar 5-point or 8-point algorithm. However, despite their…

Visual localization is a critical task in mobile robotics, and researchers are continuously developing new approaches to enhance its efficiency. In this article, we propose a novel approach to improve the accuracy of visual localization…

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches…

Compressive video capture encodes a short high-speed video into a single measurement using a low-speed sensor, then computationally reconstructs the original video. Prior implementations rely on expensive hardware and are restricted to…

Modern deep learning techniques that regress the relative camera pose between two images have difficulty dealing with challenging scenarios, such as large camera motions resulting in occlusions and significant changes in perspective that…

Video semantic segmentation is active in recent years benefited from the great progress of image semantic segmentation. For such a task, the per-frame image segmentation is generally unacceptable in practice due to high computation cost. To…

We introduce an approach to enhance the novel view synthesis from images taken from a freely moving camera. The introduced approach focuses on outdoor scenes where recovering accurate geometric scaffold and camera pose is challenging,…

The paper introduces an accurate solution to dense orthographic Non-Rigid Structure from Motion (NRSfM) in scenarios with severe occlusions or, likewise, inaccurate correspondences. We integrate a shape prior term into variational…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

Forward scatter radar (FSR) has emerged as an effective imaging modality for target detection, utilizing forward scattering (FS) signals to reconstruct two-dimensional shadow profile images of objects. However, real-world FS signals are…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

Capturing the shape and spatially-varying appearance (SVBRDF) of an object from images is a challenging task that has applications in both computer vision and graphics. Traditional optimization-based approaches often need a large number of…

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…

Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…

Elevator button recognition is considered an indispensable function for enabling the autonomous elevator operation of mobile robots. However, due to unfavorable image conditions and various image distortions, the recognition accuracy…

Estimating camera motion and intrinsics from casual videos is a core challenge in computer vision. Traditional bundle-adjustment based methods, such as SfM and SLAM, struggle to perform reliably on arbitrary data. Although specialized SfM…