相关论文: Multi Camera Placement via Z-buffer Rendering for …
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…
The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
Multi-camera surveillance has been an active research topic for understanding and modeling scenes. Compared to a single camera, multi-cameras provide larger field-of-view and more object cues, and the related applications are multi-view…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
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…
Localization and mapping are key capabilities for self-driving vehicles. In this paper, we build on Kimera and extend it to use multiple cameras as well as external (eg wheel) odometry sensors, to obtain accurate and robust odometry…
3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…
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…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…
In this paper, a unified three-layer hierarchical approach for solving tracking problems in multiple non-overlapping cameras is proposed. Given a video and a set of detections (obtained by any person detector), we first solve within-camera…
Cross-view person matching and 3D human pose estimation in multi-camera networks are particularly difficult when the cameras are extrinsically uncalibrated. Existing efforts generally require large amounts of 3D data for training neural…
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…
Estimating 3D poses of multiple humans in real-time is a classic but still challenging task in computer vision. Its major difficulty lies in the ambiguity in cross-view association of 2D poses and the huge state space when there are…
The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…
Many Multi-View-Stereo algorithms extract a 3D mesh model of a scene, after fusing depth maps into a volumetric representation of the space. Due to the limited scalability of such representations, the estimated model does not capture fine…
In multiview applications, multiple cameras acquire the same scene from different viewpoints and generally produce correlated video streams. This results in large amounts of highly redundant data. In order to save resources, it is critical…