相关论文: Marginalized Bundle Adjustment: Multi-View Camera …

Existing methods for scale-invariant monocular depth estimation (SI MDE) often struggle due to the complexity of the task, and limited and non-diverse datasets, hindering generalizability in real-world scenarios. This is while…

Monocular depth estimation (MDE) for colonoscopy is hampered by the domain gap between simulated and real-world images. Existing image-to-image translation methods, which use depth as a posterior constraint, often produce structural…

Full surround monodepth (FSM) methods can learn from multiple camera views simultaneously in a self-supervised manner to predict the scale-aware depth, which is more practical for real-world applications in contrast to scale-ambiguous depth…

Existing Mamba-based approaches in remote sensing change detection have enhanced scanning models, yet remain limited by their inability to capture long-range dependencies between image channels effectively, which restricts their feature…

Two-view structure from motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM (vSLAM). Many existing end-to-end learning-based methods usually formulate it as a brute regression problem. However, the inadequate utilization of…

Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle…

Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…

We present a novel Structure from Motion pipeline that is capable of reconstructing accurate camera poses for panorama-style video capture without prior camera intrinsic calibration. While panorama-style capture is common and convenient,…

Radar-camera depth estimation must turn an ultra-sparse, all-weather, metric radar signal into a dense per-pixel depth map. Existing methods -- concatenation, confidence-aware gating, sparse supervision, graph-based extraction -- combine…

The problem of obtaining dense reconstruction of an object in a natural sequence of images has been long studied in computer vision. Classically this problem has been solved through the application of bundle adjustment (BA). More recently,…

In this paper, we present a new method for multi-view geometric reconstruction. In recent years, large vision models have rapidly developed, performing excellently across various tasks and demonstrating remarkable generalization…

Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…

We propose a framework that extends Blender to exploit Structure from Motion (SfM) and Multi-View Stereo (MVS) techniques for image-based modeling tasks such as sculpting or camera and motion tracking. Applying SfM allows us to determine…

Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). However,…

Image-based 3D reconstruction is one of the most important tasks in Computer Vision with many solutions proposed over the last few decades. The objective is to extract metric information i.e. the geometry of scene objects directly from…

While Structure from Motion (SfM) achieves great success in 3D reconstruction, it still meets challenges on large scale scenes. In this work, large scale SfM is deemed as a graph problem, and we tackle it in a divide-and-conquer manner.…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to introducing geometry constraints of the prior scene structure.…

Recent advancements in transformer-based monocular 3D object detection techniques have exhibited exceptional performance in inferring 3D attributes from single 2D images. However, most existing methods rely on resource-intensive transformer…

Monocular depth estimation is a crucial task to measure distance relative to a camera, which is important for applications, such as robot navigation and self-driving. Traditional frame-based methods suffer from performance drops due to the…