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MBA-VO: Motion Blur Aware Visual Odometry
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a novel hybrid visual odometry pipeline with direct approach that explicitly models and estimates the camera's local trajectory within exposure time. This allows us to actively compensate for any motion ...Conference Paper -
Orthographic-Perspective Epipolar Geometry
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)In this paper we consider the epipolar geometry between orthographic and perspective cameras. We generalize many of the classical results for the perspective essential matrix to this setting and derive novel minimal solvers, not only for the calibrated case, but also for partially calibrated and non-central camera setups. While orthographic cameras might seem exotic, they occur naturally in many applications. They can e.g. model 2D maps ...Conference Paper -
Towards Efficient Graph Convolutional Networks for Point Cloud Handling
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)We aim at improving the computational efficiency of graph convolutional networks (GCNs) for learning on point clouds. The basic graph convolution that is composed of a K-nearest neighbor (KNN) search and a multilayer perceptron (MLP) is examined. By mathematically analyzing the operations there, two findings to improve the efficiency of GCNs are obtained. (1) The local geometric structure information of 3D representations propagates ...Conference Paper -
Sat2Vid: Street-View Panoramic Video Synthesis From a Single Satellite Image
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)We present a novel method for synthesizing both temporally and geometrically consistent street-view panoramic video from a single satellite image and camera trajectory. Existing cross-view synthesis approaches focus on images, while video synthesis in such a case has not yet received enough attention. For geometrical and temporal consistency, our approach explicitly creates a 3D point cloud representation of the scene and maintains dense ...Conference Paper -
IterMVS: Iterative Probability Estimation for Efficient Multi-View Stereo
(2022)2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)We present IterMVS, a new data-driven method for high-resolution multi-view stereo. We propose a novel GRU-based estimator that encodes pixel-wise probability distributions of depth in its hidden state. Ingesting multi-scale matching information, our model refines these distributions over multiple iterations and infers depth and confidence. To extract the depth maps, we combine traditional classification and regression in a novel manner. ...Conference Paper -
Scalable Point Cloud-based Reconstruction with Local Implicit Functions
(2020)2020 International Conference on 3D Vision (3DV)Surface reconstruction from point clouds has been a well-studied research topic with applications in computer vision and computer graphics. Recently, several learningbased methods were proposed for 3D shape representation through implicit functions which among others can be used for point cloud-based reconstruction. Although delivering compelling results for synthetic object datasets of overseeable size, they fail to represent larger ...Conference Paper -
Class Specific 3D Object Shape Priors Using Surface Normals
(2014)Proceedings of the 2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)Conference Paper -
Automatic Registration of RGB-D Scans via Salient Directions
(2013)Proceedings : 2013 IEEE International Conference on Computer Vision ICCV 2013 : 1-8 December 2013. Sydney, NSW, AustraliaConference Paper -
Multi-Label Semantic 3D Reconstruction using Voxel Blocks
(2016)2016 Fourth International Conference on 3D Vision (3DV)Conference Paper -
Finding the exact rotation between two images independently of the translation
(2012)Conference Paper