相关论文: Efficient Plane-Based Optimization of Geometry and…

This paper presents an extension to the KinectFusion algorithm which allows creating simplified 3D models with high quality RGB textures. This is achieved through (i) creating model textures using images from an HD RGB camera that is…

Realistic color texture generation is an important step in RGB-D surface reconstruction, but remains challenging in practice due to inaccuracies in reconstructed geometry, misaligned camera poses, and view-dependent imaging artifacts. In…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

Single-image room layout reconstruction aims to reconstruct the enclosed 3D structure of a room from a single image. Most previous work relies on the cuboid-shape prior. This paper considers a more general indoor assumption, i.e., the room…

Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…

We present a new, fast and flexible pipeline for indoor scene synthesis that is based on deep convolutional generative models. Our method operates on a top-down image-based representation, and inserts objects iteratively into the scene by…

Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…

We consider the problem of human pose estimation. While much recent work has focused on the RGB domain, these techniques are inherently under-constrained since there can be many 3D configurations that explain the same 2D projection. To this…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such…

This paper presents Planar Gaussian Splatting (PGS), a novel neural rendering approach to learn the 3D geometry and parse the 3D planes of a scene, directly from multiple RGB images. The PGS leverages Gaussian primitives to model the scene…

Recovering textured 3D models of non-rigid human body shapes is challenging due to self-occlusions caused by complex body poses and shapes, clothing obstructions, lack of surface texture, background clutter, sparse set of cameras with…

This paper proposes a deep neural network (DNN) for piece-wise planar depthmap reconstruction from a single RGB image. While DNNs have brought remarkable progress to single-image depth prediction, piece-wise planar depthmap reconstruction…

We present a fast and simple technique to convert images into a radiance surface-based scene representation. Building on existing radiance volume reconstruction algorithms, we introduce a subtle yet impactful modification of the loss…

Chronic wound monitoring and management require accurate and efficient wound measurement methods. This paper presents a fast, non-invasive 3D wound measurement algorithm based on RGB-D imaging. The method combines RGB-D odometry with…

This article describes novel approaches to quickly estimate planar surfaces from RGBD sensor data. The approach manipulates the standard algebraic fitting equations into a form that allows many of the needed regression variables to be…

Direct optimization of interpolated features on multi-resolution voxel grids has emerged as a more efficient alternative to MLP-like modules. However, this approach is constrained by higher memory expenses and limited representation…