相关论文: Real-Time Variational Fisheye Stereo without Recti…

We demonstrate pixelation-free real-time widefield endoscopic imaging through an aperiodic multicore fiber (MCF) without any distal opto-mechanical elements or proximal scanners. Exploiting the memory effect in MCFs the images in our system…

In video surveillance as well as automotive applications, so-called fisheye cameras are often employed to capture a very wide angle of view. As such cameras depend on projections quite different from the classical perspective projection,…

The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision system embedded in an unmanned aerial vehicle (UAV). The…

Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…

Dense 3D reconstruction and ego-motion estimation are key challenges in autonomous driving and robotics. Compared to the complex, multi-modal systems deployed today, multi-camera systems provide a simpler, low-cost alternative. However,…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

Multi-view stereo (MVS) reconstruction is essential for creating 3D models. The approach involves applying epipolar rectification followed by dense matching for disparity estimation. However, existing approaches face challenges in applying…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

The growing demand for immersive 3D content calls for automated monocular-to-stereo video conversion. We present Elastic3D, a controllable, direct end-to-end method for upgrading a conventional video to a binocular one. Our approach, based…

Fisheye lens gains increasing applications in computational photography and assisted driving because of its wide field of view (FoV). However, the fisheye image generally contains invalid black regions induced by its imaging model. In this…

We propose an end-to-end deep learning approach to rectify fisheye images and simultaneously calibrate camera intrinsic and distortion parameters. Our method consists of two parts: a Quick Image Rectification Module developed with a Pix2Pix…

We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous…

The development in the field of autonomous driving goes hand in hand with ever new developments in the field of image processing and machine learning methods. In order to fully exploit the advantages of deep learning, it is necessary to…

Accurate dense depth estimation is crucial for autonomous vehicles to analyze their environment. This paper presents a non-deep learning-based approach to densify a sparse LiDAR-based depth map using a guidance RGB image. To achieve this…

Although the distortion correction of fisheye images has been extensively studied, the correction of fisheye videos is still an elusive challenge. For different frames of the fisheye video, the existing image correction methods ignore the…

We present a novel approach for real-time joint reconstruction of 3D scene motion and geometry from binocular stereo videos. Our approach is based on a novel variational halfway-domain scene flow formulation, which allows us to obtain…

In this paper, we present TANDEM a real-time monocular tracking and dense mapping framework. For pose estimation, TANDEM performs photometric bundle adjustment based on a sliding window of keyframes. To increase the robustness, we propose a…

Scene reconstruction from unorganized RGB images is an important task in many computer vision applications. Multi-view Stereo (MVS) is a common solution in photogrammetry applications for the dense reconstruction of a static scene. The…

Displacement mapping is an important tool for modeling detailed geometric features. We explore the problem of authoring complex surfaces while ray tracing interactively. Current techniques for ray tracing displaced surfaces rely on…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…