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

Annotating camera poses on dynamic Internet videos at scale is critical for advancing fields like realistic video generation and simulation. However, collecting such a dataset is difficult, as most Internet videos are unsuitable for pose…

Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…

Monocular Simultaneous Localization and Mapping (SLAM) aims to estimate a robot's pose while simultaneously reconstructing an unknown 3D scene using a single camera. While existing monocular SLAM systems generate detailed 3D geometry…

We propose a dense dynamic RGB-D SLAM pipeline based on a learning-based visual odometry, TartanVO. TartanVO, like other direct methods rather than feature-based, estimates camera pose through dense optical flow, which only applies to…

3D Human body pose and shape estimation within a temporal sequence can be quite critical for understanding human behavior. Despite the significant progress in human pose estimation in the recent years, which are often based on single images…

In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…

This paper proposes a simple baseline framework for video-based 2D/3D human pose estimation that can achieve 10 times efficiency improvement over existing works without any performance degradation, named DeciWatch. Unlike current solutions…

We tackle the problem of monocular 3D reconstruction of articulated objects like humans and animals. We contribute DensePose 3D, a method that can learn such reconstructions in a weakly supervised fashion from 2D image annotations only.…

With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…

Human pose estimation from single images is a challenging problem in computer vision that requires large amounts of labeled training data to be solved accurately. Unfortunately, for many human activities (\eg outdoor sports) such training…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural consistency and robust pose estimation in the presence of…

Optical Image Stabilization (OIS) system in mobile devices reduces image blurring by steering lens to compensate for hand jitters. However, OIS changes intrinsic camera parameters (i.e. $\mathrm{K}$ matrix) dynamically which hinders…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

This work presents a novel RGB-D SLAM approach to simultaneously segment, track and reconstruct the static background and large dynamic rigid objects that can occlude major portions of the camera view. Previous approaches treat dynamic…

In computer vision, estimating the six-degree-of-freedom pose from an RGB image is a fundamental task. However, this task becomes highly challenging in multi-object scenes. Currently, the best methods typically employ an indirect strategy,…

Recovering dense human poses from images plays a critical role in establishing an image-to-surface correspondence between RGB images and the 3D surface of the human body, serving the foundation of rich real-world applications, such as…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…

Scene reconstruction from unorganized RGB images is an important task in many computer vision applications. Multi-view Stereo (MVS) is a common solution in photogrammetry applications for the dense reconstruction of a static scene. The…