119 citations · 193 across the 8 of their papers we have counts for
14 papers
Map-Det3D: Metric Feed-Forward 3D Reconstruction Prior for Multi-view 3D Object Detection from Streaming Inputs
Yung-Hsu Yang, Luigi Piccinelli, Samuel Rota Bulò +7
Metric 3D object detection is a core capability for embodied agents, yet most reliable systems lean on depth sensors, trading away cost, power, and integration simplicity. This mot…
Global Structure-from-Motion Meets Feedforward Reconstruction
Linfei Pan, Johannes Schönberger, Marc Pollefeys
Structure-from-Motion -- the process of simultaneously estimating camera poses and 3D scene structure from a collection of images -- remains a central challenge in computer vision,…
Fixing the RANSAC Stopping Criterion
Johannes Schönberger, Viktor Larsson, Marc Pollefeys
For several decades, RANSAC has been one of the most commonly used robust estimation algorithms for many problems in computer vision and related fields. The main contribution of th…
Robust Incremental Structure-from-Motion with Hybrid Features
Shaohui Liu, Yidan Gao, Tianyi Zhang +4
Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the…
Global Structure-from-Motion Revisited
Linfei Pan, Dániel Baráth, Marc Pollefeys +1
Recovering 3D structure and camera motion from images has been a long-standing focus of computer vision research and is known as Structure-from-Motion (SfM). Solutions to this prob…
ALSTER: A Local Spatio-Temporal Expert for Online 3D Semantic Reconstruction
Silvan Weder, Francis Engelmann, Johannes L. Schönberger +3
We propose an online 3D semantic segmentation method that incrementally reconstructs a 3D semantic map from a stream of RGB-D frames. Unlike offline methods, ours is directly appli…
LaMAR: Benchmarking Localization and Mapping for Augmented Reality
Paul-Edouard Sarlin, Mihai Dusmanu, Johannes L. Schönberger +5
Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant prog…
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger +4
For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject…
NeuralFusion: Online Depth Fusion in Latent Space
Silvan Weder, Johannes L. Schönberger, Marc Pollefeys +1
We present a novel online depth map fusion approach that learns depth map aggregation in a latent feature space. While previous fusion methods use an explicit scene representation…
HoloLens 2 Research Mode as a Tool for Computer Vision Research
Dorin Ungureanu, Federica Bogo, Silvano Galliani +9
Mixed reality headsets, such as the Microsoft HoloLens 2, are powerful sensing devices with integrated compute capabilities, which makes it an ideal platform for computer vision re…
Multi-View Optimization of Local Feature Geometry
Mihai Dusmanu, Johannes L. Schönberger, Marc Pollefeys
In this work, we address the problem of refining the geometry of local image features from multiple views without known scene or camera geometry. Current approaches to local featur…
RoutedFusion: Learning Real-time Depth Map Fusion
Silvan Weder, Johannes L. Schönberger, Marc Pollefeys +1
The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable…
Privacy Preserving Image-Based Localization
Pablo Speciale, Johannes L. Schönberger, Sing Bing Kang +2
Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of…
Semantic Visual Localization
Johannes L. Schönberger, Marc Pollefeys, Andreas Geiger +1
Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very chall…