相关论文: Can generalised relative pose estimation solve spa…

We propose a novel technique to register sparse 3D scans in the absence of texture. While existing methods such as KinectFusion or Iterative Closest Points (ICP) heavily rely on dense point clouds, this task is particularly challenging…

We propose a minimal solution for the similarity registration (rigid pose and scale) between two sets of 3D lines, and also between a set of co-planar points and a set of 3D lines. The first problem is solved up to 8 discrete solutions with…

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

3D scan registration is a classical, yet a highly useful problem in the context of 3D sensors such as Kinect and Velodyne. While there are several existing methods, the techniques are usually incremental where adjacent scans are registered…

3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…

We examine in this paper the problem of image registration from the new perspective where images are given by sparse approximations in parametric dictionaries of geometric functions. We propose a registration algorithm that looks for an…

We describe a convex programming framework for pose estimation in 2D/3D point-set registration with unknown point correspondences. We give two mixed-integer nonlinear program (MINP) formulations of the 2D/3D registration problem when there…

Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

Reconstructing 3D shape and pose of static objects from a single image is an essential task for various industries, including robotics, augmented reality, and digital content creation. This can be done by directly predicting 3D shape in…

We investigate the problem of estimating the 3D shape of an object defined by a set of 3D landmarks, given their 2D correspondences in a single image. A successful approach to alleviating the reconstruction ambiguity is the 3D deformable…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…

This paper addresses the problem of 3D face recognition using simultaneous sparse approximations on the sphere. The 3D face point clouds are first aligned with a novel and fully automated registration process. They are then represented as…

Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…

Recent developments in differentiable and neural rendering have made impressive breakthroughs in a variety of 2D and 3D tasks, e.g. novel view synthesis, 3D reconstruction. Typically, differentiable rendering relies on a dense viewpoint…

Topographic mapping in planetary environments relies on accurate 3D scan registration methods. However, most global registration algorithms relying on features such as FPFH and Harris-3D show poor alignment accuracy in these settings due to…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…