9 accepted papers
Multimodal SLAM is an important topic in 3D computer vision research. Recent visual-LiDAR SLAM systems use photometric error for camera pose estimation, but their use of sparse LiDAR projections underutilizes image information. Integrating 3D Gaussian Splatting allows full image rendering, but the e
To address partial node failures in unmanned aerial vehicle swarms, self-healing communication techniques are commonly employed to restore backbone connectivity while preserving area coverage. However, existing heuristic methods struggle to scale under large-scale failures and dynamic conditions, wh
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). However, traditional global SfM systems struggle with robustness due…
Visual localization, also known as camera pose estimation, is a crucial component of many applications, such as robotics, autonomous driving, and augmented reality. Traditional visual localization algorithms typically run on point cloud maps generated by algorithms such as Structure-from-Motion (SfM
Scaled relative pose estimation i.e. estimating relative rotation and scaled relative translation between two images has always been a major challenge in global Structure-from-Motion (SfM). This difficulty arises because the two-view relative translation computed by traditional geometric vision meth…
Global translation estimation is a highly challenging step in the global structure from motion (SfM) algorithm. Many existing methods depend solely on relative translations leading to inaccuracies in low parallax scenes and degradation under collinear camera motion. While recent approaches aim to ad…
In order to fully perceive the surrounding environment, many intelligent robots and self-driving cars are equipped with a multi-camera system. Based on this system, the structure-from-motion (SfM) technology is used to realize scene reconstruction, but the fixed relative poses between cameras in the…
Multiple sensors, especially cameras and LiDARs, are widely used in autonomous vehicles. In order to fuse data from different sensors accurately, precise calibrations are required, including camera intrinsic parameters, and relative poses between multiple cameras and LiDARs. However, most existing c…
Structure-from-Motion (SfM) methods can be broadly categorized as incremental or global according to their ways to estimate initial camera poses. While incremental system has advanced in robustness and accuracy, the efficiency remains its key challenge. To solve this problem, global reconstruction s…