相关论文: DATAP-SfM: Dynamic-Aware Tracking Any Point for Ro…

Understanding the dynamics of generic 3D scenes is fundamentally challenging in computer vision, essential in enhancing applications related to scene reconstruction, motion tracking, and avatar creation. In this work, we address the task as…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

In this paper, we tackle the accurate and consistent Structure from Motion (SfM) problem, in particular camera registration, far exceeding the memory of a single computer in parallel. Different from the previous methods which drastically…

Estimating camera intrinsics and extrinsics is a fundamental problem in computer vision, and while advances in structure-from-motion (SfM) have improved accuracy and robustness, open challenges remain. In this paper, we introduce a robust…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Existing approaches for Structure from Motion (SfM) produce impressive 3-D reconstruction results especially when using imagery captured with large parallax. However, to create engaging video-content in movies and TV shows, the amount by…

For robots to be useful outside labs and specialized factories we need a way to teach them new useful behaviors quickly. Current approaches lack either the generality to onboard new tasks without task-specific engineering, or else lack the…

There has been extensive progress in the reconstruction and generation of 4D scenes from monocular casually-captured video. While these tasks rely heavily on known camera poses, the problem of finding such poses using structure-from-motion…

The goal of video anomaly detection is tantamount to performing spatio-temporal localization of abnormal events in the video. The multiscale temporal dependencies, visual-semantic heterogeneity, and the scarcity of labeled data exhibited by…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

We tackle the problem of Persistent Independent Particles (PIPs), also called Tracking Any Point (TAP), in videos, which specifically aims at estimating persistent long-term trajectories of query points in videos. Previous methods attempted…

To aide simultaneous localization and mapping (SLAM), future perception systems will incorporate forms of scene understanding. In a step towards fully integrated probabilistic geometric scene understanding, localization and mapping we…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

Feature based visual odometry and SLAM methods require accurate and fast correspondence matching between consecutive image frames for precise camera pose estimation in real-time. Current feature matching pipelines either rely solely on the…

Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…

UAV tracking can be widely applied in scenarios such as disaster rescue, environmental monitoring, and logistics transportation. However, existing UAV tracking methods predominantly emphasize speed and lack exploration in semantic…