相关论文: CIPHER: Culvert Inspection through Pairwise Frame …

This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate…

Deep neural network (DNN) architectures have been shown to outperform traditional pipelines for object segmentation and pose estimation using RGBD data, but the performance of these DNN pipelines is directly tied to how representative the…

Advances in deep learning techniques have allowed recent work to reconstruct the shape of a single object given only one RBG image as input. Building on common encoder-decoder architectures for this task, we propose three extensions: (1)…

The assessment of sewer pipe systems is a highly important, but at the same time cumbersome and error-prone task. We introduce an innovative system based on single-shot structured light modules that facilitates the detection and…

We introduce CurveFusion, the first approach for high quality scanning of thin structures at interactive rates using a handheld RGBD camera. Thin filament-like structures are mathematically just 1D curves embedded in R^3, and…

Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…

We present an efficient and automatic approach for accurate reconstruction of instances of big 3D objects from multiple, unorganized and unstructured point clouds, in presence of dynamic clutter and occlusions. In contrast to conventional…

This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…

Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…

This paper presents a real-time segmentation and reconstruction system that utilizes RGB-D images to generate accurate and detailed individual 3D models of objects within a captured scene. Leveraging state-of-the-art instance segmentation…

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…

We present SeeingThroughClutter, a method for reconstructing structured 3D representations from single images by segmenting and modeling objects individually. Prior approaches rely on intermediate tasks such as semantic segmentation and…

Underwater pipelines are highly susceptible to corrosion, which not only shorten their service life but also pose significant safety risks. Compared with manual inspection, the intelligent real-time imaging system for underwater pipeline…

We introduce MIPS-Fusion, a robust and scalable online RGB-D reconstruction method based on a novel neural implicit representation -- multi-implicit-submap. Different from existing neural RGB-D reconstruction methods lacking either…

Reconstructing the shape and spatially varying surface appearances of a physical-world object as well as its surrounding illumination based on 2D images (e.g., photographs) of the object has been a long-standing problem in computer vision…

State-of-the-art image segmentation algorithms generally consist of at least two successive and distinct computations: a boundary detection process that uses local image information to classify image locations as boundaries between objects,…

Rain degrades the visual quality of multi-view images, which are essential for 3D scene reconstruction, resulting in inaccurate and incomplete reconstruction results. Existing datasets often overlook two critical characteristics of real…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

To reconstruct spectral signals from multi-channel observations, in particular trichromatic RGBs, has recently emerged as a promising alternative to traditional scanning-based spectral imager. It has been proven that the reconstruction…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…