相关论文: Multi-task Planar Reconstruction with Feature Warp…

Plane model extraction from three-dimensional point clouds is a necessary step in many different applications such as planar object reconstruction, indoor mapping and indoor localization. Different RANdom SAmple Consensus (RANSAC)-based…

Single-task learning in artificial neural networks will be able to learn the model very well, and the benefits brought by transferring knowledge thus become limited. In this regard, when the number of tasks increases (e.g., semantic…

Semantic segmentation has been widely investigated in the community, in which the state of the art techniques are based on supervised models. Those models have reported unprecedented performance at the cost of requiring a large set of high…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

In man-made environments such as indoor scenes, when point-based 3D reconstruction fails due to the lack of texture, lines can still be detected and used to support surfaces. We present a novel method for watertight piecewise-planar surface…

Recently, the emergence of diffusion models has opened up new opportunities for single-view reconstruction. However, all the existing methods represent the target object as a closed mesh devoid of any structural information, thus neglecting…

3D vision foundation models have shown strong generalization in reconstructing key 3D attributes from uncalibrated images through a single feed-forward pass. However, when deployed in online settings such as driving scenarios, predictions…

The paper studies planar surface reconstruction of indoor scenes from two views with unknown camera poses. While prior approaches have successfully created object-centric reconstructions of many scenes, they fail to exploit other…

Feature matching is a fundamental problem in computer vision with wide-ranging applications, including simultaneous localization and mapping (SLAM), image stitching, and 3D reconstruction. While recent advances in deep learning have…

We learn a self-supervised, single-view 3D reconstruction model that predicts the 3D mesh shape, texture and camera pose of a target object with a collection of 2D images and silhouettes. The proposed method does not necessitate 3D…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

Existing 3D semantic segmentation methods rely on point-wise or voxel-wise feature descriptors to output segmentation predictions. However, these descriptors are often supervised at point or voxel level, leading to segmentation models that…

We present a novel framework named PlaneMVS for 3D plane reconstruction from multiple input views with known camera poses. Most previous learning-based plane reconstruction methods reconstruct 3D planes from single images, which highly rely…

We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…

Planes are fundamental primitives of 3D sences, especially in man-made environments such as indoor spaces and urban streets. Representing these planes in a structured and parameterized format facilitates scene editing and physical…

Reconstructing deformable tissues from endoscopic stereo videos in robotic surgery is crucial for various clinical applications. However, existing methods relying only on implicit representations are computationally expensive and require…

This paper is about reducing the cost of building good large-scale 3D reconstructions post-hoc. We render 2D views of an existing reconstruction and train a convolutional neural network (CNN) that refines inverse-depth to match a…

Autoencoding, which aims to reconstruct the input images through a bottleneck latent representation, is one of the classic feature representation learning strategies. It has been shown effective as an auxiliary task for semi-supervised…

Self-attention is of vital importance in semantic segmentation as it enables modeling of long-range context, which translates into improved performance. We argue that it is equally important to model short-range context, especially to…

Floorplan reconstruction provides structural priors essential for reliable indoor robot navigation and high-level scene understanding. However, existing approaches either require time-consuming offline processing with a complete map, or…