9 accepted papers
Learning a feature point detector presents a challenge both due to the ambiguity of the definition of a keypoint and, correspondingly, the need for specially prepared ground truth labels for such points. In our work, we address both of these issues by utilizing a combination of a hand-crafted Shi-To…
The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences that combines a 2D neural network and a 3D network based on a
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates. In this work, we present the first self-supervised depth completion method for active stereo systems that pred
We propose a new type of full-body human avatars, which combines parametric mesh-based body model with a neural texture. We show that with the help of neural textures, such avatars can successfully model clothing and hair, which usually poses a problem for mesh-based approaches. We also show how the…
Perspective-n-Point-and-Line (PnPL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current point-based pose estimation methods use only 2D feature detection uncert…
We present a new deep learning approach to pose-guided resynthesis of human photographs. At the heart of the new approach is the estimation of the complete body surface texture based on a single photograph. Since the input photograph always observes only a part of the surface, we suggest a new inpai…
We present a system for learning full body neural avatars, i.e. deep networks that produce full body renderings of a person for varying body pose and varying camera pose. Our system takes the middle path between the classical graphics pipeline and the recent deep learning approaches that generate im…
Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work we present two minimal solvers for stereo relative pose. We specifically con- sider the case when a minimal set consist of three point or line features and each of them ha…
Low textured scenes are well known to be one of the main Achilles heels of geometric computer vision algorithms relying on point correspondences, and in particular for visual SLAM. Yet, there are many environments in which, despite being low textured, one can still reliably estimate line-based geome…