相关论文: Multi view stereo with semantic priors

In stereoscope-based Minimally Invasive Surgeries (MIS), dense stereo matching plays an indispensable role in 3D shape recovery, AR, VR, and navigation tasks. Although numerous Deep Neural Network (DNN) approaches are proposed, the…

Obtaining dense 3D reconstrution with low computational cost is one of the important goals in the field of SLAM. In this paper we propose a dense 3D reconstruction framework from monocular multispectral video sequences using jointly…

The reconstruction of textureless areas has long been a challenging problem in MVS due to lack of reliable pixel correspondences between images. In this paper, we propose the Textureless-aware Segmentation And Correlative Refinement guided…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…

The best way to combine the results of deep learning with standard 3D reconstruction pipelines remains an open problem. While systems that pass the output of traditional multi-view stereo approaches to a network for regularisation or…

3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…

Recovering an outdoor environment's surface mesh is vital for an agricultural robot during task planning and remote visualization. Our proposed solution is based on a newly-designed panoramic stereo camera along with a hybrid novel software…

Decompositional reconstruction of 3D scenes, with complete shapes and detailed texture of all objects within, is intriguing for downstream applications but remains challenging, particularly with sparse views as input. Recent approaches…

In this paper, we investigate a new optimization framework for multi-view 3D shape reconstructions. Recent differentiable rendering approaches have provided breakthrough performances with implicit shape representations though they can still…

Learning-based multi-view stereo (MVS) methods have demonstrated promising results. However, very few existing networks explicitly take the pixel-wise visibility into consideration, resulting in erroneous cost aggregation from occluded…

We propose a system that uses a convolution neural network (CNN) to estimate depth from a stereo pair followed by volumetric fusion of the predicted depth maps to produce a 3D reconstruction of a scene. Our proposed depth refinement…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

The area of computer vision is one of the most discussed topics amongst many scholars, and stereo matching is its most important sub fields. After the parallax map is transformed into a depth map, it can be applied to many intelligent…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Multiview stereo aims to reconstruct scene depth from images acquired by a camera under arbitrary motion. Recent methods address this problem through deep learning, which can utilize semantic cues to deal with challenges such as textureless…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Accurately reconstructing dense and semantically annotated 3D meshes from monocular images remains a challenging task due to the lack of geometry guidance and imperfect view-dependent 2D priors. Though we have witnessed recent advancements…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

Image datasets have been steadily growing in size, harming the feasibility and efficiency of large-scale 3D reconstruction methods. In this paper, a novel approach for scaling Multi-View Stereo (MVS) algorithms up to arbitrarily large…