相关论文: Interacted Planes Reveal 3D Line Mapping

In contrast to sparse keypoints, a handful of line segments can concisely encode the high-level scene layout, as they often delineate the main structural elements. In addition to offering strong geometric cues, they are also omnipresent in…

In man-made environments such as indoor scenes, when point-based 3D reconstruction fails due to the lack of texture, lines can still be detected and used to support surfaces. We present a novel method for watertight piecewise-planar surface…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

We propose LiteReality, a novel pipeline that converts RGB-D scans of indoor environments into compact, realistic, and interactive 3D virtual replicas. LiteReality not only reconstructs scenes that visually resemble reality but also…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstruction, an effective way is to completely cover the scene…

Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…

Streaming reconstruction from monocular image sequences remains challenging, as existing methods typically favor either high-quality rendering or accurate geometry, but rarely both. We present PLANING, an efficient on-the-fly reconstruction…

Recent advancements in visual localization and mapping have demonstrated considerable success in integrating point and line features. However, expanding the localization framework to include additional mapping components frequently results…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

We present a novel approach to reconstruct RGB-D indoor scene with plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed by some 3D reconstruction method on the sequence, and generate a…

The Multiplane Image (MPI), containing a set of fronto-parallel RGBA layers, is an effective and efficient representation for view synthesis from sparse inputs. Yet, its fixed structure limits the performance, especially for surfaces imaged…

Reconstructing 3D assets from images has long required separate pipelines for geometry reconstruction, material estimation, and illumination recovery, each with distinct limitations and computational overhead. We present ReLi3D, the first…

Event cameras in motion tend to detect object boundaries or texture edges, which produce lines of brightness changes, especially in man-made environments. While lines can constitute a robust intermediate representation that is consistently…