相关论文: RoEL: Robust Event-based 3D Line Reconstruction

In this work, we propose a motion robust and high-speed detection pipeline which better leverages the event data. First, we design an event stream representation called temporal active focus (TAF), which efficiently utilizes the…

Event cameras are vision sensors that record asynchronous streams of per-pixel brightness changes, referred to as "events". They have appealing advantages over frame-based cameras for computer vision, including high temporal resolution,…

Event sensors output a stream of asynchronous brightness changes (called ``events'') at a very high temporal rate. Previous works on recovering the lost intensity information from the event sensor data have heavily relied on the event…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Event cameras attract researchers' attention due to their low power consumption, high dynamic range, and extremely high temporal resolution. Learning models on event-based object classification have recently achieved massive success by…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

Recent advances in 3D shape generation have achieved impressive results, but most existing methods rely on clean, unoccluded, and well-segmented inputs. Such conditions are rarely met in real-world scenarios. We present ShapeR, a novel…

Achieving 3D reconstruction from images captured under optimal conditions has been extensively studied in the vision and imaging fields. However, in real-world scenarios, challenges such as motion blur and insufficient illumination often…

Event cameras are bio-inspired sensors that output asynchronous and sparse event streams, instead of fixed frames. Benefiting from their distinct advantages, such as high dynamic range and high temporal resolution, event cameras have been…

Event cameras do not produce images, but rather a continuous flow of events, which encode changes of illumination for each pixel independently and asynchronously. While they output temporally rich information, they lack any depth…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

Understanding and modeling the 3D scene from a single image is a practical problem. A recent advance proposes a panoptic 3D scene reconstruction task that performs both 3D reconstruction and 3D panoptic segmentation from a single image.…

This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…

Event cameras, which are asynchronous bio-inspired vision sensors, have shown great potential in computer vision and artificial intelligence. However, the application of event cameras to object-level motion estimation or tracking is still…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

We study the joint image of lines incident to points, meaning the set of image tuples obtained from fixed cameras observing a varying 3D point-line incidence. We prove a formula for the number of complex critical points of the triangulation…

Visual repetition is ubiquitous in our world. It appears in human activity (sports, cooking), animal behavior (a bee's waggle dance), natural phenomena (leaves in the wind) and in urban environments (flashing lights). Estimating visual…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

High-quality 4D reconstruction of human performance with complex interactions to various objects is essential in real-world scenarios, which enables numerous immersive VR/AR applications. However, recent advances still fail to provide…

Event-based eye tracking has become a pivotal technology for augmented reality and human-computer interaction. Yet, existing methods struggle with real-world challenges such as abrupt eye movements and environmental noise. Building on the…