相关论文: Floorplan-Aware Camera Poses Refinement

Semantic reconstruction of indoor scenes refers to both scene understanding and object reconstruction. Existing works either address one part of this problem or focus on independent objects. In this paper, we bridge the gap between…

When humans perform everyday tasks, we naturally adjust our actions based on the current state of the environment. For instance, if we intend to put something into a drawer but notice it is closed, we open it first. However, many autonomous…

Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructure-free localization using only a floor plan and a stationary…

Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…

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…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…

Thin structures, such as wire-frame sculptures, fences, cables, power lines, and tree branches, are common in the real world. It is extremely challenging to acquire their 3D digital models using traditional image-based or depth-based…

This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D reconstruction. We call this least-squares problem…

Floorplanning determines the coordinate and shape of each module in Integrated Circuits. With the scaling of technology nodes, in floorplanning stage especially 3D scenarios with multiple stacked layers, it has become increasingly…

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…

Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…

Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…

Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window…

Dense 3D reconstruction and ego-motion estimation are key challenges in autonomous driving and robotics. Compared to the complex, multi-modal systems deployed today, multi-camera systems provide a simpler, low-cost alternative. However,…

Inference of correspondences between images from different modalities is an extremely important perceptual ability that enables humans to understand and recognize cross-modal concepts. In this paper, we consider an instance of this problem…