相关论文: A Comparative Study of Coarse to Dense 3D Indoor S…

RGB-D scanning of indoor environments is important for many applications, including real estate, interior design, and virtual reality. However, it is still challenging to register RGB-D images from a hand-held camera over a long video…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

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…

Image Registration is the process of aligning two or more images of the same scene with reference to a particular image. The images are captured from various sensors at different times and at multiple view-points. Thus to get a better…

We present Scan2CAD, a novel data-driven method that learns to align clean 3D CAD models from a shape database to the noisy and incomplete geometry of a commodity RGB-D scan. For a 3D reconstruction of an indoor scene, our method takes as…

Camera motion estimation is a key technique for 3D scene reconstruction and Simultaneous localization and mapping (SLAM). To make it be feasibly achieved, previous works usually assume slow camera motions, which limits its usage in many…

This report surveys advances in deep learning-based modeling techniques that address four different 3D indoor scene analysis tasks, as well as synthesis of 3D indoor scenes. We describe different kinds of representations for indoor scenes,…

3D scan registration is a classical, yet a highly useful problem in the context of 3D sensors such as Kinect and Velodyne. While there are several existing methods, the techniques are usually incremental where adjacent scans are registered…

We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans. Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point…

Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be…

Registration is the process that computes the transformation that aligns sets of data. Commonly, a registration process can be divided into four main steps: target selection, feature extraction, feature matching, and transform computation…

3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…

Registration of 3D human body has been a challenging research topic for over decades. Most of the traditional human body registration methods require manual assistance, or other auxiliary information such as texture and markers. The…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

We present an automatic method for annotating images of indoor scenes with the CAD models of the objects by relying on RGB-D scans. Through a visual evaluation by 3D experts, we show that our method retrieves annotations that are at least…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…