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

Accurate and robust 3D scene reconstruction from casual, in-the-wild videos can significantly simplify robot deployment to new environments. However, reliable camera pose estimation and scene reconstruction from such unconstrained videos…

We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…

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…

With the popularity of monocular videos generated by video sharing and live broadcasting applications, reconstructing and editing dynamic scenes in stationary monocular cameras has become a special but anticipated technology. In contrast to…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

We propose Unblur-SLAM, a novel RGB SLAM pipeline for sharp 3D reconstruction from blurred image inputs. In contrast to previous work, our approach is able to handle different types of blur and demonstrates state-of-the-art performance in…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

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…

Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…

This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estimation from motion stereo is challenging due to insufficient…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…

Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM), yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response, we introduce Loopy-SLAM…

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…

In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be…

Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…