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Elastic Fragments for Dense Scene Reconstruction

Qian-Yi Zhou, Stephen Miller, Vladlen Koltun
2013 2013 IEEE International Conference on Computer Vision  
Our approach deals with both sources of error by reconstructing locally smooth scene fragments and letting these fragments deform in order to align to each other.  ...  We present an approach to reconstruction of detailed scene geometry from range video.  ...  Conclusion We presented an approach for dense scene reconstruction from range video produced by consumer-grade cameras.  ... 
doi:10.1109/iccv.2013.65 dblp:conf/iccv/ZhouMK13 fatcat:lwzhgtbjbjazdbbcpb4xsars4a

Simultaneous Localization and Calibration: Self-Calibration of Consumer Depth Cameras

Qian-Yi Zhou, Vladlen Koltun
2014 2014 IEEE Conference on Computer Vision and Pattern Recognition  
We describe an approach for simultaneous localization and calibration of a stream of range images.  ...  For both datasets, SLAC reconstructions are more accurate than the reconstructions produced by the elastic fragments approach, at either calibration resolution.  ...  This is in contrast to the elastic fragments optimization, which takes 7 hours and 30 minutes for an 8 3 lattice resolution.  ... 
doi:10.1109/cvpr.2014.65 dblp:conf/cvpr/ZhouK14 fatcat:27dwzewiybhi5bco54whhv6j74

LoopSmart: Smart Visual SLAM Through Surface Loop Closure [article]

Guoxiang Zhang, YangQuan Chen
2018 arXiv   pre-print
Sparse feature matching is used for visual odometry and globally camera pose fine-tuning when dense loops are detected, while dense surface alignment is the way of closing large loops and solving surface  ...  We run extensive experiments on different datasets, our method outperforms state-of-the-art ones in terms of both camera trajectory and surface reconstruction accuracy.  ...  ACKNOWLEDGMENT We thank Mighty Chen and Kevin Ong for their help in converting format of RGB-D data.  ... 
arXiv:1801.01572v1 fatcat:pt7qj3pwzvhilbnercfgjaq6sa

A Two-Stage Strategy for Real-Time Dense 3D Reconstruction of Large-Scale Scenes [chapter]

Diego Thomas, Akihiro Sugimoto
2015 Lecture Notes in Computer Science  
By employing planar patches as the 3D scene representation, our proposed method runs in real-time to build accurate 3D models with minimal deformations even for large-scale scenes.  ...  The frame-to-global-model approach is widely used for accurate 3D modeling from sequences of RGB-D images.  ...  To correct such deformations, elastic registration [19] between fragments of the whole scene can be used at the cost of significant computational overhead, which prevents from real-time application.  ... 
doi:10.1007/978-3-319-16178-5_30 fatcat:ah2lnbljabdg5ikf44eblqmgbm

Floorplan-Jigsaw: Jointly Estimating Scene Layout and Aligning Partial Scans

Cheng Lin, Changjian Li, Wenping Wang
2019 2019 IEEE/CVF International Conference on Computer Vision (ICCV)  
Without the requirement of feature matching, the proposed method enables some novel applications ranging from large or featureless scene reconstruction and modeling from sparse input.  ...  We present a novel approach to align partial 3D reconstructions which may not have substantial overlap.  ...  We thank the anonymous reviewers for their insightful comments.  ... 
doi:10.1109/iccv.2019.00577 dblp:conf/iccv/LinLW19 fatcat:cu7u7camdrhutlyhbizcaujife

Floorplan-Jigsaw: Jointly Estimating Scene Layout and Aligning Partial Scans [article]

Cheng Lin, Changjian Li, Wenping Wang
2019 arXiv   pre-print
Without the requirement of feature matching, the proposed method enables some novel applications ranging from large or featureless scene reconstruction and modeling from sparse input.  ...  We present a novel approach to align partial 3D reconstructions which may not have substantial overlap.  ...  We thank the anonymous reviewers for their insightful comments.  ... 
arXiv:1812.06677v3 fatcat:kz2uewrrwfecnh4h5nlxqdpgai

A Sensor for Urban Driving Assistance Systems Based on Dense Stereovision

Sergiu Nedevschi, Radu Danescu, Tiberiu Marita, Florin Oniga, Ciprian Pocol, Stefan Sobol, Corneliu Tomiuc, Cristian Vancea, Marc Michael Meinecke, Thorsten Graf, Thanh Binh To, Marian Andrzej Obojski
2007 IEEE Intelligent Vehicles Symposium  
The sensor presented in this paper answers to the requirements of the urban scenario through a multitude of detection modules, built on top of a hybrid (hardware plus software) dense stereo reconstruction  ...  The urban driving environment is a complex and demanding one, requiring increasingly complex sensors for the driving assistance systems.  ...  B. 3D Reconstruction The 3D reconstruction of the scene is performed using the DeepSea hardware board provided by TYZX [12] .  ... 
doi:10.1109/ivs.2007.4290127 fatcat:no7gspckpjfvtduh3npzlqo2hq

Online Reconstruction of Indoor Scenes from RGB-D Streams

Hao Wang, Jun Wang, Liang Wang
2016 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)  
A system capable of performing robust online volumetric reconstruction of indoor scenes based on input from a handheld RGB-D camera is presented.  ...  The system is online with low delay and returns a dense model of sufficient accuracy.  ...  Conclusion We present a system for online dense reconstruction of indoor scenes using inputs from a handheld RGB-D camera.  ... 
doi:10.1109/cvpr.2016.356 dblp:conf/cvpr/WangWW16 fatcat:bpokcmaapff3dkw7cjylkc5gce

High-quality indoor scene 3D reconstruction with RGB-D cameras: A brief review

Jianwei Li, Wei Gao, Yihong Wu, Yangdong Liu, Yanfei Shen
2022 Computational Visual Media  
The advent of consumer RGB-D cameras has made a profound advance in indoor scene reconstruction.  ...  We here review high-quality 3D indoor scene reconstruction methods using consumer RGB-D cameras.  ...  Redwood [3] deals with the accumulated pose estimation errors by reconstructing locally smooth scene fragments and deforming these fragments to align them with each other, obtaining high-quality 3D scene  ... 
doi:10.1007/s41095-021-0250-8 fatcat:z6ywcn4zujbptjaqrwkwhoyquu

Robust and Efficient CPU-Based RGB-D Scene Reconstruction

Jianwei Li, Wei Gao, Heping Li, Fulin Tang, Yihong Wu
2018 Sensors  
For the application of robotics, we propose a robust CPU-based approach to reconstruct indoor scenes efficiently with a consumer RGB-D camera.  ...  3D scene reconstruction is an important topic in computer vision. A complete scene is reconstructed from views acquired along the camera trajectory, each view containing a small part of the scene.  ...  Elastic fragments for dense scene reconstruction.  ... 
doi:10.3390/s18113652 fatcat:6xzllz6v3rfrbpnb447f64cq5y

Scene Representation Technologies for 3DTV—A Survey

A. Ayd¿n Alatan, Yucel Yemez, U¿ur Gudukbay, Xenophon Zabulis, Karsten Muller, Çi¿dem Ero¿lu Erdem, Christian Weigel, Aljoscha Smolic
2007 IEEE transactions on circuits and systems for video technology (Print)  
Dense point-based methods are appropriate for free-view 3DTV applications, since they can generate novel views easily.  ...  On the other hand, volumetric representations encapsulate neighborhood information that is useful for the reconstruction of surfaces with their parallel implementations for multiview stereo algorithms.  ...  Ward for her proofreading and suggestions.  ... 
doi:10.1109/tcsvt.2007.909974 fatcat:gubjtzvchzfdlps4d7zu3v2kra

Animation cartography—intrinsic reconstruction of shape and motion

Art Tevs, Alexander Berner, Michael Wand, Ivo Ihrke, Martin Bokeloh, Jens Kerber, Hans-Peter Seidel
2012 ACM Transactions on Graphics  
We propose a number of algorithmic building blocks: a scheme for tracking landmarks in temporally coherent and incoherent data, an algorithm for robust estimation of dense correspondences under topological  ...  Our approach is motivated by cartography: We first estimate a few landmark correspondences, which are extended to a dense matching and then used to reconstruct geometry and motion.  ...  We would also like to thank Vlasic et al. and Li et al. for making their data available.  ... 
doi:10.1145/2159516.2159517 fatcat:zwae6bb35bgk7pez5h7farnxee

Space-Time Localization and Mapping

Minhaeng Lee, Charless C. Fowlkes
2017 2017 IEEE International Conference on Computer Vision (ICCV)  
By explicitly representing the temporal extent and observability of surfaces in a scene, our method yields superior localization and reconstruction relative to baselines that assume a static 3D scene.  ...  Unlike traditional models for simultaneous localization and mapping (SLAM) and structure-from-motion (SfM) which focus on recovering a single rigid 3D model, we tackle the problem of mapping scenes in  ...  out by rigidly aligning scene fragments, e.g., using iterative closest point (ICP), rather than sparse matching and projective structure estimation techniques used in monocular SLAM.  ... 
doi:10.1109/iccv.2017.422 dblp:conf/iccv/LeeF17 fatcat:lmnd6fto2jezpbooc5i5lmldcy

Unsupervised learning with sparse space-and-time autoencoders [article]

Benjamin Graham
2018 arXiv   pre-print
Applications are to handwriting recognition in 2D, segmentation for parts in 3D objects, segmentation for objects in 3D scenes, and body-part segmentation for 4D wire-frame models generated from motion  ...  We evaluate the resulting latent spaces by testing their usefulness for downstream tasks.  ...  Figure 3 : 3 Handwritten digit (left) and reconstruction (right). The reconstruction seems to differ from the original by an elastic distortion.  ... 
arXiv:1811.10355v1 fatcat:7lz2jjpecvhjrmvaxtldigh4hy

Parameter Estimation in Image Processing and Computer Vision [chapter]

Christoph S. Garbe, Björn Ommer
2012 Contributions in Mathematical and Computational Sciences  
Subsequently, approaches for estimating these parameters encompass a wide range of techniques, often tuned to the application, the underlying data and viable assumptions.  ...  Examples of such parameters are the entries of filter kernels optimized for a certain criterion, image features such as the velocity field, or part descriptors or compositions thereof.  ...  Mumford [92] phrased this problem in terms of a minimization of elastic energy of curves or surfaces M treated as elastic rods or shells and C 1 continuity conditions on @D.  ... 
doi:10.1007/978-3-642-30367-8_15 fatcat:cp544uqjofdrxc6ukihuxhdcva
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