相关论文: LivePose: Online 3D Reconstruction from Monocular …

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…

Direct methods have shown promise on visual odometry and SLAM, leading to greater accuracy and robustness over feature-based methods. However, offline 3-d reconstruction from internet images has not yet benefited from a joint, photometric…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

3D reconstruction from 2D inputs, especially for non-rigid objects like humans, presents unique challenges due to the significant range of possible deformations. Traditional methods often struggle with non-rigid shapes, which require…

Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

Estimating camera motion and intrinsics from casual videos is a core challenge in computer vision. Traditional bundle-adjustment based methods, such as SfM and SLAM, struggle to perform reliably on arbitrary data. Although specialized SfM…

Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…

Event cameras are bio-inspired sensors that offer advantages over traditional cameras. They operate asynchronously, sampling the scene at microsecond resolution and producing a stream of brightness changes. This unconventional output has…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…

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…

This paper considers to jointly tackle the highly correlated tasks of estimating 3D human body poses and predicting future 3D motions from RGB image sequences. Based on Lie algebra pose representation, a novel self-projection mechanism is…

Most 3d human pose estimation methods assume that input -- be it images of a scene collected from one or several viewpoints, or from a video -- is given. Consequently, they focus on estimates leveraging prior knowledge and measurement by…

High-quality motion reconstruction that follows the user's movements can be achieved by high-end mocap systems with many sensors. However, obtaining such animation quality with fewer input devices is gaining popularity as it brings mocap…

Modern deep learning developments create new opportunities for 3D mapping technology, scene reconstruction pipelines, and virtual reality development. Despite advances in 3D deep learning technology, direct training of deep learning models…