Mono-STAR: Mono-Camera Scene-Level Tracking and Reconstruction
Haonan Chang, Dhruv Metha Ramesh, Shijie Geng, Yuqiu Gan, Abdeslam Boularias
Abstract
We present Mono-STAR, the first real-time 3D reconstruction system that simultaneously supports semantic fusion, fast motion tracking, non-rigid object deformation, and topological change under a unified framework. The proposed system solves a new optimization problem incorporating optical-flow-based 2D constraints to deal with fast motion and a novel semantic-aware deformation graph (SAD-graph) for handling topology change. We test the proposed system under various challenging scenes and demonstrate that it significantly outperforms existing state-of-the-art methods. Supplementary material, including videos, can be found at https://github.com/changhaonan/Mono-STAR-demo.
BibTeX
@inproceedings{icra2023_monostarmonocame,
title = {Mono-STAR: Mono-Camera Scene-Level Tracking and Reconstruction},
author = {Haonan Chang and Dhruv Metha Ramesh and Shijie Geng and Yuqiu Gan and Abdeslam Boularias},
booktitle = {ICRA 2023},
year = {2023}
}