4 papers
HiSfM: Disambiguating Structure-from-Motion via Scaffold-Anchored Hierarchical Reconstruction
Ziding Zhao, Hainan Cui, Peilin Tao +1
Structure-from-Motion (SfM) is a fundamental tool for sparse 3D reconstruction with broad impact in robotics and vision, supporting mapping, localization, and large-scale scene mod…
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…
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…