相关论文: Back on Track: Bundle Adjustment for Dynamic Scene…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

State-of-the-art video deblurring methods are capable of removing non-uniform blur caused by unwanted camera shake and/or object motion in dynamic scenes. However, most existing methods are based on batch processing and thus need access to…

We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…

Detecting anomalies in high-dimensional, time-dependent simulation data is challenging due to complex spatial and temporal dynamics. We study reconstruction-based anomaly detection for ensemble data from parameterized K\'arm\'an vortex…

State-of-the-art video deblurring methods cannot handle blurry videos recorded in dynamic scenes, since they are built under a strong assumption that the captured scenes are static. Contrary to the existing methods, we propose a video…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…

SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…

Point tracking aims to localize corresponding points across video frames, serving as a fundamental task for 4D reconstruction, robotics, and video editing. Existing methods commonly rely on shallow convolutional backbones such as ResNet…

Simultaneously localizing camera poses and constructing Gaussian radiance fields in dynamic scenes establish a crucial bridge between 2D images and the 4D real world. Instead of removing dynamic objects as distractors and reconstructing…

Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in large-scale scenes due to three core challenges: \textit{(a)…

In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

We present a method for single image 3D cuboid object detection and multi-view object SLAM in both static and dynamic environments, and demonstrate that the two parts can improve each other. Firstly for single image object detection, we…

Recent progress in scene synthesis makes standalone SLAM systems purely based on optimizing hyperprimitives with a Rendering objective possible. However, the tracking performance still lacks behind traditional and end-to-end SLAM systems.…

Reconstructing dynamic 4D scenes from monocular videos is a fundamental yet challenging task. While recent 3D foundation models provide strong geometric priors, their performance significantly degrades in dynamic environments. This…

We propose TRAM, a two-stage method to reconstruct a human's global trajectory and motion from in-the-wild videos. TRAM robustifies SLAM to recover the camera motion in the presence of dynamic humans and uses the scene background to derive…

Reconstructing 3D shapes from a sequence of images has long been a problem of interest in computer vision. Classical Structure from Motion (SfM) methods have attempted to solve this problem through projected point displacement \& bundle…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

While 3D LiDAR sensor technology is becoming more advanced and cheaper every day, the growth of digitalization in the AEC industry contributes to the fact that 3D building information models (BIM models) are now available for a large part…