相关论文: RSL-BA: Rolling Shutter Line Bundle Adjustment

This paper proposes the first real-world rolling shutter (RS) correction dataset, BS-RSC, and a corresponding model to correct the RS frames in a distorted video. Mobile devices in the consumer market with CMOS-based sensors for video…

Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…

Photometric bundle adjustment (PBA) is widely used in estimating the camera pose and 3D geometry by assuming a Lambertian world. However, the assumption of photometric consistency is often violated since the non-diffuse reflection is common…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents $\nu$-DBA, a novel framework implementing geometric dense bundle…

We present RS-Diffusion, the first Diffusion Models-based method for single-frame Rolling Shutter (RS) correction. RS artifacts compromise visual quality of frames due to the row-wise exposure of CMOS sensors. Most previous methods have…

As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…

Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle…

We propose a distributed bundle adjustment (DBA) method using the exact Levenberg-Marquardt (LM) algorithm for super large-scale datasets. Most of the existing methods partition the global map to small ones and conduct bundle adjustment in…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…

Most of the state-of-the-art indirect visual SLAM methods are based on the sparse point features. However, it is hard to find enough reliable point features for state estimation in the case of low-textured scenes. Line features are abundant…

This paper addresses the problem of rolling shutter correction in complex nonlinear and dynamic scenes with extreme occlusion. Existing methods suffer from two main drawbacks. Firstly, they face challenges in estimating the accurate…

Rotating synthetic aperture (RSA) imaging system captures images of the target scene at different rotation angles by rotating a rectangular aperture. Deblurring acquired RSA images plays a critical role in reconstructing a latent sharp…

Motion blur is a frequently observed image artifact, especially under insufficient illumination where exposure time has to be prolonged so as to collect more photons for a bright enough image. Rather than simply removing such blurring…

3D reconstruction has been developing all these two decades, from moderate to medium size and to large scale. It's well known that bundle adjustment plays an important role in 3D reconstruction, mainly in Structure from Motion(SfM) and…

In this paper we propose a novel square root sliding-window bundle adjustment suitable for real-time odometry applications. The square root formulation pervades three major aspects of our optimization-based sliding-window estimator: for…

This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D reconstruction. We call this least-squares problem…

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…

In this paper we consider critical motion sequences (CMSs) of rolling-shutter (RS) SfM. Employing an RS camera model with linearized pure rotation, we show that the RS distortion can be approximately expressed by two internal parameters of…

The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism, leading to image distortions if the camera moves during image acquisition. In this paper, we present a novel deep network to solve the generic rolling…

This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations in a Reproducing Kernel Hilbert Space (RKHS). With a…