相关论文: Princeton365: A Diverse Dataset with Accurate Came…
This paper presents a novel dataset aimed at detecting pedestrians' intentions as they approach an ego-vehicle. The dataset comprises synchronized multi-modal data, including fisheye camera feeds, lidar laser scans, ultrasonic sensor…
The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…
360{\deg} videos in recent years have experienced booming development. Compared to traditional videos, 360{\deg} videos are featured with uncertain user behaviors, bringing opportunities as well as challenges. Datasets are necessary for…
Generating multiview-consistent $360^\circ$ ground-level scenes from satellite imagery is a challenging task with broad applications in simulation, autonomous navigation, and digital twin cities. Existing approaches primarily focus on…
We present a method to estimate human motion in a global scene from moving cameras. This is a highly challenging task due to the coupling of human and camera motions in the video. To address this problem, we propose a joint optimization…
Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…
Novel view synthesis in 360$^\circ$ scenes from extremely sparse input views is essential for applications like virtual reality and augmented reality. This paper presents a novel framework for novel view synthesis in extremely sparse-view…
In this work, we present an integrated system for spatiotemporal summarization of 360-degrees videos. The video summary production mainly involves the detection of salient events and their synopsis into a concise summary. The analysis…
In this paper, we deal with the task of text-driven saliency detection in 360-degrees videos. For this, we introduce the TSV360 dataset which includes 16,000 triplets of ERP frames, textual descriptions of salient objects/events in these…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
We present FoundationSLAM, a learning-based monocular dense SLAM system that addresses the absence of geometric consistency in previous flow-based approaches for accurate and robust tracking and mapping. Our core idea is to bridge flow…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
Given the great interest in creating keyframe summaries from video, it is surprising how little has been done to formalise their evaluation and comparison. User studies are often carried out to demonstrate that a proposed method generates a…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…
With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…
We introduce MVSplat360, a feed-forward approach for 360{\deg} novel view synthesis (NVS) of diverse real-world scenes, using only sparse observations. This setting is inherently ill-posed due to minimal overlap among input views and…
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…
This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…