相关论文: Video-Based Camera Localization Using Anchor View …

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

Image-based 3D reconstruction or 3D photogrammetry of small-scale objects including insects and biological specimens is challenging due to the use of high magnification lens with inherent limited depth of field, and the object's fine…

Detecting objects in a two-dimensional setting is often insufficient in the context of real-life applications where the surrounding environment needs to be accurately recognized and oriented in three-dimension (3D), such as in the case of…

Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

A video autoencoder is proposed for learning disentan- gled representations of 3D structure and camera pose from videos in a self-supervised manner. Relying on temporal continuity in videos, our work assumes that the 3D scene structure in…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…

Monocular 3D lane detection is a challenging task due to its lack of depth information. A popular solution is to first transform the front-viewed (FV) images or features into the bird-eye-view (BEV) space with inverse perspective mapping…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Numerous works have recently integrated 3D camera control into foundational text-to-video models, but the resulting camera control is often imprecise, and video generation quality suffers. In this work, we analyze camera motion from a first…

Recently, breakthroughs in video modeling have allowed for controllable camera trajectories in generated videos. However, these methods cannot be directly applied to user-provided videos that are not generated by a video model. In this…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…

In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the…

Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…

This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view. Previous approaches treat dynamic…

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…

Event cameras are rapidly emerging as powerful vision sensors for 3D reconstruction, uniquely capable of asynchronously capturing per-pixel brightness changes. Compared to traditional frame-based cameras, event cameras produce sparse yet…

We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…