相关论文: Bimodal Stereo: Joint Shape and Pose Estimation fr…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

We demonstrate the use of shape-from-shading (SfS) to improve both the quality and the robustness of 3D reconstruction of dynamic objects captured by a single camera. Unlike previous approaches that made use of SfS as a post-processing…

The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

In stereo vision, self-similar or bland regions can make it difficult to match patches between two images. Active stereo-based methods mitigate this problem by projecting a pseudo-random pattern on the scene so that each patch of an image…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

We introduce the first end-to-end learning-based solution to near-field Photometric Stereo (PS), where the light sources are close to the object of interest. This setup is especially useful for reconstructing large immobile objects. Our…

We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…

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…

One of the most successful approaches in Multi-View Stereo estimates a depth map and a normal map for each view via PatchMatch-based optimization and fuses them into a consistent 3D points cloud. This approach relies on photo-consistency to…

Multiview photometric stereo (MVPS) seeks to recover high-fidelity surface shapes and reflectances from images captured under varying views and illuminations. However, existing MVPS methods often require controlled darkroom settings for…

Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…

In the context of a localization and tracking application, we developed a stereo vision system based on cheap low-resolution 80x60 pixels thermal cameras. We proposed a threefold sub-pixel stereo matching framework (called ST for Subpixel…

Estimating shape and appearance of a three dimensional object from a given set of images is a classic research topic that is still actively pursued. Among the various techniques available, PS is distinguished by the assumption that the…

Event stereo matching is an emerging technique to estimate depth from neuromorphic cameras; however, events are unlikely to trigger in the absence of motion or the presence of large, untextured regions, making the correspondence problem…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

We present a stereo-matching method for depth estimation from high-resolution images using visual hulls as priors, and a memory-efficient technique for the correlation computation. Our method uses object masks extracted from supplementary…

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…

Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture meaningful data, resulting in point clouds with severe…

The raw depth images captured by RGB-D cameras using Time-of-Flight (TOF) or structured light often suffer from incomplete depth values due to weak reflections, boundary shadows, and artifacts, which limit their applications in downstream…