4 papers
HETA++: Global Structure-from-Motion with Hybrid Explicit Translation Averaging
Peilin Tao, Hainan Cui, Mengqi Rong +1
Global Structure-from-Motion (SfM) offers advantages over incremental methods in terms of efficiency and error distribution. However, the task of translation averaging remains chal…
Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping
Peilin Tao, Chong Cheng, Yuansen Du +8
Long-horizon online visual mapping is a core capability for robot perception, requiring continuous camera-motion and scene-geometry estimation from visual streams under bounded mem…
HorizonStream: Long-Horizon Attention for Streaming 3D Reconstruction
Chong Cheng, Peilin Tao, Nanjie Yao +9
Online 3D reconstruction requires estimating camera pose and scene geometry under strict causal and bounded-memory constraints. Existing methods often suffer from drift, jitter, or…
MGSfM: Multi-Camera Geometry Driven Global Structure-from-Motion
Peilin Tao, Hainan Cui, Diantao Tu +1
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose co…