相关论文: Floorplan-Aware Camera Poses Refinement

Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation…

We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…

Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are…

In this paper, we introduce a novel method called FRI-Net for 2D floorplan reconstruction from 3D point cloud. Existing methods typically rely on corner regression or box regression, which lack consideration for the global shapes of rooms.…

Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…

Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however this does not translate well to space-limited clinical…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…

Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…

Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

We are working towards 3D reconstruction of indoor spaces using a pair of HDR cameras in a stereo vision configuration mounted on an indoor mobile floor robot that captures various textures and spatial features as 2D images and this data is…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…

This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…

One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…

This work presents a novel pipeline to recover the 3D structure of an unknown target spacecraft from a sequence of images captured during Rendezvous and Proximity Operations (RPO) in space. The target's geometry and appearance are…