相关论文: Spatiotemporal Bundle Adjustment for Dynamic 3D Hu…

Accurate spatiotemporal calibration is a prerequisite for multisensor fusion. However, sensors are typically asynchronous, and there is no overlap between the fields of view of cameras and LiDARs, posing challenges for intrinsic and…

3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…

The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…

Spatio-temporal information is key to resolve occlusion and depth ambiguity in 3D pose estimation. Previous methods have focused on either temporal contexts or local-to-global architectures that embed fixed-length spatio-temporal…

Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…

Human motion recovered from monocular videos often appears overly smooth or dynamically inconsistent, even when joint positions are numerically accurate. We observe that this limitation stems from the absence of reliable high-order temporal…

The synthesis of spatiotemporally coherent 4D content presents fundamental challenges in computer vision, requiring simultaneous modeling of high-fidelity spatial representations and physically plausible temporal dynamics. Current…

Long-range temporal alignment is critical yet challenging for video restoration tasks. Recently, some works attempt to divide the long-range alignment into several sub-alignments and handle them progressively. Although this operation is…

Estimating 3D poses from a monocular video is still a challenging task, despite the significant progress that has been made in recent years. Generally, the performance of existing methods drops when the target person is too small/large, or…

Estimating 3D human poses from a monocular video is still a challenging task. Many existing methods' performance drops when the target person is occluded by other objects, or the motion is too fast/slow relative to the scale and speed of…

We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…

Currently, there are no learning-free or neural techniques for real-time recalibration of infrared multi-camera systems. In this paper, we address the challenge of real-time, highly-accurate calibration of multi-camera infrared systems, a…

The appearance of a human in clothing is driven not only by the pose but also by its temporal context, i.e., motion. However, such context has been largely neglected by existing monocular human modeling methods whose neural networks often…

Real-time monocular 3D reconstruction is a challenging problem that remains unsolved. Although recent end-to-end methods have demonstrated promising results, tiny structures and geometric boundaries are hardly captured due to their…

Reconstructing precise camera poses and floor plan layouts from wide-baseline RGB panoramas is a difficult and unsolved problem. We introduce BADGR, a novel diffusion model that jointly performs reconstruction and bundle adjustment (BA) to…

Due to inevitable noises introduced during scanning and quantization, 3D reconstruction via RGB-D sensors suffers from errors both in geometry and texture, leading to artifacts such as camera drifting, mesh distortion, texture ghosting, and…

Reconstructing dynamic humans together with static scenes from monocular videos remains difficult, especially under fast motion, where RGB frames suffer from motion blur. Event cameras exhibit distinct advantages, e.g., microsecond temporal…

We address the problem of estimating the shape of a person's head, defined as the geometry of the complete head surface, from a video taken with a single moving camera, and determining the alignment of the fitted 3D head for all video…

A core component of all Structure from Motion (SfM) approaches is bundle adjustment. As the latter is a computational bottleneck for larger blocks, parallel bundle adjustment has become an active area of research. Particularly,…

Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents an efficient and consistent bundle adjustment method for…