相关论文: 3D Scene Geometry Estimation from 360$^\circ$ Imag…

Reliable image correspondences form the foundation of vision-based spatial perception, enabling recovery of 3D structure and camera poses. However, unconstrained feature matching across domains such as aerial, indoor, and outdoor scenes…

Most of existing superpixel methods are designed to segment standard planar images as pre-processing for computer vision pipelines. Nevertheless, the increasing number of applications based on wide angle capture devices, mainly generating…

As 360{\deg} cameras become prevalent in many autonomous systems (e.g., self-driving cars and drones), efficient 360{\deg} perception becomes more and more important. We propose a novel self-supervised learning approach for predicting the…

We present a method to reconstruct indoor and outdoor static scene geometry and appearance from an omnidirectional video moving in a small circular sweep. This setting is challenging because of the small baseline and large depth ranges,…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

Omnidirectional vision is becoming increasingly relevant as more efficient $360^o$ image acquisition is now possible. However, the lack of annotated $360^o$ datasets has hindered the application of deep learning techniques on spherical…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

Due to the current lack of large-scale datasets at the million-scale level, tasks involving panoramic images predominantly rely on existing two-dimensional pre-trained image benchmark models as backbone networks. However, these networks are…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

In recent years, 3D generation has made great strides in both academia and industry. However, generating 3D scenes from a single RGB image remains a significant challenge, as current approaches often struggle to ensure both object…

We present a novel data set made up of omnidirectional video of multiple objects whose centroid positions are annotated automatically. Omnidirectional vision is an active field of research focused on the use of spherical imagery in video…

Monocular depth estimation is an ambiguous problem, thus global structural cues play an important role in current data-driven single-view depth estimation methods. Panorama images capture the complete spatial information of their…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Semantic Scene Completion (SSC) aims to jointly estimate the complete geometry and semantics of a scene, assuming partial sparse input. In the last years following the multiplication of large-scale 3D datasets, SSC has gained significant…

Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…

Pano3D is a new benchmark for depth estimation from spherical panoramas. It aims to assess performance across all depth estimation traits, the primary direct depth estimation performance targeting precision and accuracy, and also the…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…