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Dense monocular reconstruction using surface normals

Chamara Saroj Weerasekera, Yasir Latif, Ravi Garg, Ian Reid
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
Phong shaded fused reconstruction using smoothness prior (top left), phong shaded fused reconstruction using normals prior (top middle), a rgb keyframe image in the sequence (top right), surface normal  ...  In [30] surface normals from detected object classes were used to formulate a regularizer to penalize reconstruction errors.  ... 
doi:10.1109/icra.2017.7989293 dblp:conf/icra/WeerasekeraLGR17 fatcat:u6hfynah3zfvvgdfxxmsvrrpoa

MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstruction [article]

Zehao Yu, Songyou Peng, Michael Niemeyer, Torsten Sattler, Andreas Geiger
2022 arXiv   pre-print
We demonstrate that depth and normal cues, predicted by general-purpose monocular estimators, significantly improve reconstruction quality and optimization time.  ...  In recent years, neural implicit surface reconstruction methods have become popular for multi-view 3D reconstruction.  ...  Monocular Normal Cues. Another geometric cue we use is the surface normal. Similar to the depth cues, we apply the same pretrained Omnidata model to acquire a normal map N for each RGB image.  ... 
arXiv:2206.00665v1 fatcat:rap4ogcwdbbfnaabu3dor42adq

Monocular Dense 3D Reconstruction of a Complex Dynamic Scene from Two Perspective Frames [article]

Suryansh Kumar, Yuchao Dai, Hongdong Li
2017 arXiv   pre-print
This paper proposes a new approach for monocular dense 3D reconstruction of a complex dynamic scene from two perspective frames.  ...  In this way, we reduce the dynamic reconstruction problem to a "3D jigsaw puzzle" problem which takes pieces from an unorganized "soup of superpixels".  ...  [23] used object-level segmentation for dense dynamic reconstruction.  ... 
arXiv:1708.04398v2 fatcat:rl2y4x5vxjdhzl3hcz6clqmkxi

Combining SLAM with muti-spectral photometric stereo for real-time dense 3D reconstruction [article]

Yuanhong Xu, Pei Dong, Junyu Dong, Lin Qi
2018 arXiv   pre-print
In this paper we propose a dense 3D reconstruction framework from monocular multispectral video sequences using jointly semi-dense SLAM and Multispectral Photometric Stereo approaches.  ...  point cloud with the dense surface normal using the automated cross-scale fusion method proposed in this paper to get a dense point cloud with subtle texture information.  ...  Then we use the opyimized depth maps to perform dense normal recovery. We show the dense surface normal before and after optimization in Fig.4 .  ... 
arXiv:1807.02294v1 fatcat:gfrozb2jmjf25drdn7x6viwthe

3D Scene Mesh from CNN Depth Predictions and Sparse Monocular SLAM

Tomoyuki Mukasa, Jiu Xu, Stenger Bjorn
2017 2017 IEEE International Conference on Computer Vision Workshops (ICCVW)  
In our framework, SLAM-measured sparse features and CNNpredicted dense depth maps are fused to obtain a more accurate dense 3D reconstruction including scale.  ...  In this paper, we propose a novel framework for integrating geometrical measurements of monocular visual simultaneous localization and mapping (SLAM) and depth prediction using a convolutional neural network  ...  Finally, the surface meshes are deformed using 3D features as geometric constraints, and fused to a 3D reconstruction.  ... 
doi:10.1109/iccvw.2017.112 dblp:conf/iccvw/MukasaXS17 fatcat:tdnufowpo5hb3lr4p32aueuxfq

Monocular and Stereo Cues for Landing Zone Evaluation for Micro UAVs [article]

Rohit Garg, Shichao Yang, Sebastian Scherer
2018 arXiv   pre-print
Many existing methods rely on Lidar or depth sensor to provide accurate and dense surface reconstruction.  ...  We utilize stereo images to evaluate the slope and monocular images to compute homography error. By combining them together, our approach works for both rigid and non-rigid dynamic surfaces.  ...  Most vision based approaches rely on a monocular/stereo camera and accurate motion estimation to compute dense surface reconstruction.  ... 
arXiv:1812.03539v1 fatcat:kei3rdj7i5cvvi2kohm74falta

Sparse2Dense: From direct sparse odometry to dense 3D reconstruction [article]

Jiexiong Tang, John Folkesson, Patric Jensfelt
2019 arXiv   pre-print
Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals.  ...  In this paper, we proposed a new deep learning based dense monocular SLAM method.  ...  Finally, surface normal based geometrical reconstruction is conducted to rebuild a dense point cloud from the optimized sparse depth estimates. III.  ... 
arXiv:1903.09199v1 fatcat:tkkhtieguzfeldkccw7eptcnna

Toward Hierarchical Self-Supervised Monocular Absolute Depth Estimation for Autonomous Driving Applications [article]

Feng Xue, Guirong Zhuo, Ziyuan Huang, Wufei Fu, Zhuoyue Wu, Marcelo H. Ang Jr
2020 arXiv   pre-print
Our contributions are twofold: a) a novel dense connected prediction (DCP) layer is proposed to provide better object-level depth estimation and b) specifically for autonomous driving scenarios, dense  ...  It is also demonstrated that the performance of using DGC to perform scale recovery is comparable to that using ground-truth information, when the camera height is given and the ground point takes up more  ...  Four surface normals can be calculated from four vector pairs and used to form one surface normal.  ... 
arXiv:2004.05560v2 fatcat:nsvm4hnmtvhste7b3qrqjidzui

Template-Based Conformal Shape-from-Motion-and-Shading for Laparoscopy [chapter]

Abed Malti, Adrien Bartoli, Toby Collins
2012 Lecture Notes in Computer Science  
Second a rough 3D deformed shape is computed using a recent method for elastic surface from a single laparoscopic image. Third a fine 3D deformed shape is recovered using shading and specularities.  ...  It tackles the limits of classical SfS and DSfM methods: First the photometric template is reconstructed using rigid SfM (Shape-from-Motion) while the surgeon is exploring -but not deforming -the peritoneal  ...  Conclusion In this paper, we have presented the DSfMS method to reconstruct a conformal deforming living tissue in 3D by combining motion and shading cues.  ... 
doi:10.1007/978-3-642-30618-1_1 fatcat:6vd4fdk265eftovmhtj6eiicoy

Dense monocular Simultaneous Localization and Mapping by direct surfel optimization [article]

Emanuel Trabes and Julio Daniel Dondo Gazzano and Carlos Federico Sosa Páez
2020 arXiv   pre-print
This work presents a novel approach for monocular dense Simultaneous Localization and Mapping.  ...  The method was tested against several datasets, showing both its depth and normal estimation correctness, and its scene reconstruction quality.  ...  This work presents a dense monocular SLAM system that does not utilizes the depth smoothness prior.  ... 
arXiv:1910.01997v2 fatcat:u3dvdxs4cbctrpvke2vhbou3aq

Air-ground localization and map augmentation using monocular dense reconstruction

Christian Forster, Matia Pizzoli, Davide Scaramuzza
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We solve the problem of registering the 3D maps computed by the robots using different sensors: a dense 3D reconstruction from the MAV monocular camera is aligned with the map computed from the depth sensor  ...  Once aligned, the dense reconstruction from the MAV is used to augment the map computed by the ground robot, by extending it with the information conveyed by the aerial views.  ...  Computing a dense 3D surface from monocular cameras in real-time has only recently become feasible with the use of GPGPU computing [3] , [4] .  ... 
doi:10.1109/iros.2013.6696924 dblp:conf/iros/ForsterPS13 fatcat:okho22jghvhmdf2prctddszyoq

SLAM-based dense surface reconstruction in monocular Minimally Invasive Surgery and its application to Augmented Reality

Long Chen, Wen Tang, Nigel W. John, Tao Ruan Wan, Jian Jun Zhang
2018 Computer Methods and Programs in Biomedicine  
A robust global 3D surface reconstruction framework has been developed for building a dense surface using only unorganized sparse point clouds extracted from the SLAM.  ...  In this paper, we present a novel intra-operative dense surface reconstruction framework that is capable of providing geometry information from only monocular MIS videos for geometry-aware AR applications  ...  a dense and smooth surface through our novel surface reconstruction framework.  ... 
doi:10.1016/j.cmpb.2018.02.006 pmid:29544779 fatcat:v4bhbs7wzzej7pifadeffhwzqm

LiveCap: Real-time Human Performance Capture from Monocular Video [article]

Marc Habermann and Weipeng Xu and Michael Zollhoefer and Gerard Pons-Moll and Christian Theobalt
2019 arXiv   pre-print
We present the first real-time human performance capture approach that reconstructs dense, space-time coherent deforming geometry of entire humans in general everyday clothing from just a single RGB video  ...  In the second stage, dense non-rigid 3D deformations of skin and even loose apparel are captured based on a novel real-time capable algorithm for non-rigid tracking using dense photometric and silhouette  ...  Surface Reconstruction Accuracy.  ... 
arXiv:1810.02648v3 fatcat:ijfxnvdczzc6jh2gpywnmde47y

A Hybrid Sparse-Dense Monocular SLAM System for Autonomous Driving [article]

Louis Gallagher, Varun Ravi Kumar, Senthil Yogamani, John B. McDonald
2021 arXiv   pre-print
In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle.  ...  We provide qualitative and quantitative results for both trajectory estimation and surface reconstruction accuracy, demonstrating competitive performance on the KITTI dataset.  ...  The system permits live-dense metric reconstructions of outdoor scenes using a monocular camera in automotive scenarios.  ... 
arXiv:2108.07736v1 fatcat:pk4vxikqd5fq5fwhdsa5ktqebe

Live dense reconstruction with a single moving camera

Richard A. Newcombe, Andrew J. Davison
2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
Real-time monocular dense reconstruction opens up many application areas, and we demonstrate both real-time novel view synthesis and advanced augmented reality where augmentations interact physically with  ...  We present a method which enables rapid and dense reconstruction of scenes browsed by a single live camera.  ...  Left: each colour indicates a region reconstructed from a single camera bundle. Right: alternative rendering using diffuse Phong shading using the surface normal vectors.  ... 
doi:10.1109/cvpr.2010.5539794 dblp:conf/cvpr/NewcombeD10 fatcat:7b7yvrjlv5aipcurmtvj6xjxfa
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