相关论文: Towards Nonlinear-Motion-Aware and Occlusion-Robus…
Many computer vision and image processing applications rely on local features. It is well-known that motion blur decreases the performance of traditional feature detectors and descriptors. We propose an inertial-based deblurring method for…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
In this paper, we challenge the conventional notion in 3DGS-SLAM that rendering quality is the primary determinant of tracking accuracy. We argue that, compared to solely pursuing a perfect scene representation, it is more critical to…
Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…
Video Super-Resolution (VSR) aims to recover sequences of high-resolution (HR) frames from low-resolution (LR) frames. Previous methods mainly utilize temporally adjacent frames to assist the reconstruction of target frames. However, in the…
Previous surface reconstruction methods either suffer from low geometric accuracy or lengthy training times when dealing with real-world complex dynamic scenes involving multi-person activities, and human-object interactions. To tackle the…
Deep learning-based visual perception models lack robustness when faced with camera motion perturbations in practice. The current certification process for assessing robustness is costly and time-consuming due to the extensive number of…
The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…
Quarter sampling is a novel sensor design that allows for an acquisition of higher resolution images without increasing the number of pixels. When being used for video data, one out of four pixels is measured in each frame. Effectively,…
3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…
The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
In this paper, we derive a new differential homography that can account for the scanline-varying camera poses in Rolling Shutter (RS) cameras, and demonstrate its application to carry out RS-aware image stitching and rectification at one…
Rendering photo-realistic novel-view images of complex scenes has been a long-standing challenge in computer graphics. In recent years, great research progress has been made on enhancing rendering quality and accelerating rendering speed in…
We present MoBGS, a novel motion deblurring 3D Gaussian Splatting (3DGS) framework capable of reconstructing sharp and high-quality novel spatio-temporal views from blurry monocular videos in an end-to-end manner. Existing dynamic novel…
Recent novel view synthesis (NVS) techniques, including Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have greatly advanced 3D scene reconstruction with high-quality rendering and realistic detail recovery. Effectively…
Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…
Document rectification in real-world scenarios poses significant challenges due to extreme variations in camera perspectives and physical distortions. Driven by the insight that complex transformations can be decomposed and resolved…