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Reconstruction of 3D environments is a problem that has been widely addressed in the literature. While many approaches exist to perform reconstruction, few of them take an active role in deciding where the next observations should come from. Furthermore, the problem of travelling from the camera's current position to the next, known as pathplanning, usually focuses on minimising path length. This...
This paper proposes a new approach for monocular dense 3D reconstruction of a complex dynamic scene from two perspective frames. By applying superpixel over-segmentation to the image, we model a generically dynamic (hence non-rigid) scene with a piecewise planar and rigid approximation. In this way, we reduce the dynamic reconstruction problem to a “3D jigsaw puzzle ” problem which takes pieces from...
While recovery of hyperspectral signals from natural RGB images has been a recent subject of exploration, little to no consideration has been given to the camera response profiles used in the recovery process. In this paper we demonstrate that optimal selection of camera response filters may improve hyperspectral estimation accuracy by over 33%, emphasizing the importance of considering and selecting...
An emerging problem in computer vision is the reconstruction of 3D shape and pose of an object from a single image. Hitherto, the problem has been addressed through the application of canonical deep learning methods to regress from the image directly to the 3D shape and pose labels. These approaches, however, are problematic from two perspectives. First, they are minimizing the error between 3D shapes...
Significant progress has been recently made in Non-Rigid Structure-from-Motion (NRSfM). However, existing methods do not handle poorly-textured surfaces that deform non-smoothly. These are nonetheless common occurrence in real-world applications. An important unanswered question is whether shading can be used to robustly handle these cases. Shading is complementary to motion because it constrains...
As handheld video cameras are now commonplace and available in every smartphone, images and videos can be recorded almost everywhere at anytime. However, taking a quick shot frequently yields a blurry result due to unwanted camera shake during recording or moving objects in the scene. Removing these artifacts from the blurry recordings is a highly ill-posed problem as neither the sharp image nor the...
Spectral analysis of natural scenes can provide much more detailed information about the scene than an ordinary RGB camera. The richer information provided by hyperspectral images has been beneficial to numerous applications, such as understanding natural environmental changes and classifying plants and soils in agriculture based on their spectral properties. In this paper, we present an efficient...
Shape reconstruction techniques using structured light have been widely researched and developed due to their robustness, high precision, and density. Because the techniques are based on decoding a pattern to find correspondences, it implicitly requires that the projected patterns be clearly captured by an image sensor, i.e., to avoid defocus and motion blur of the projected pattern. Although intensive...
How much does a single image reveal about the environment it was taken in? In this paper, we investigate how much of that information can be retrieved from a foreground object, combined with the background (i.e. the visible part of the environment). Assuming it is not perfectly diffuse, the foreground object acts as a complexly shaped andfar-from-perfect mirror An additional challenge is that its...
We introduce a novel method to obtain high-quality 3D reconstructions from consumer RGB-D sensors. Our core idea is to simultaneously optimize for geometry encoded in a signed distance field (SDF), textures from automatically-selected keyframes, and their camera poses along with material and scene lighting. To this end, we propose a joint surface reconstruction approach that is based on Shape-from-Shading...
We consider 4D shape reconstructions in multi-view environments and investigate how to exploit temporal redundancy for precision refinement. In addition to being beneficial to many dynamic multi-view scenarios this also enables larger scenes where such increased precision can compensate for the reduced spatial resolution per image frame. With precision and scalability in mind, we propose a symmetric...
We present an algorithm for aligning two colored point clouds. The key idea is to optimize a joint photometric and geometric objective that locks the alignment along both the normal direction and the tangent plane. We extend a photometric objective for aligning RGB-D images to point clouds, by locally parameterizing the point cloud with a virtual camera. Experiments demonstrate that our algorithm...
Researchers have developed excellent feed-forward models that learn to map images to desired outputs, such as to the images’ latent factors, or to other images, using supervised learning. Learning such mappings from unlabelled data, or improving upon supervised models by exploiting unlabelled data, remains elusive. We argue that there are two important parts to learning without annotations: (i) matching...
In practical CCTV applications, there are problems of the camera with low resolution, camera fields of view, and lighting environments. These could degrade the image quality and it is difficult to extract useful information for further processing. Super-resolution techniques have been proposed widely by the researchers. However, many approaches are complex and are difficult to use in practical scenarios...
As indoor mobile robots become more popular among ordinary users, autonomous movement control using robot sensors is required. Because GPS localization has a poor precision under indoor environments, visual information from its sensors is important for indoor robots to automatically move around and avoid obstacles. In this study, we proposed a method to rapidly construct a coarse environment map based...
This paper presents a novel approach of the investigations in the field of the History of Soviet manned space flights. 3D models of space equipment give the possibility to form a virtual internal and external appearance of the lost samples of the spacecraft. Main results based on 3D computer reconstruction, creation of 3D documents and 3D visualization technology.
Recent studies have shown that panchromatic colour filter arrays possess better light intensity properties than the more prevalent Bayer array. This is an attractive property in integrated camera design. Demosaicking algorithms, however, focus primarily on Bayer-based cameras because of their simple demosaicking process. This paper presents a novel algorithm for use in the RGBW class of panchromatic...
Shape from focus technique can be used in the computer monocular vision, which is widely applied in the smart transportation. In this study, we proposed a novel directional statistics based focus measure for shape from focus computation. We first compute the standard deviation σ and the mean value μ in the directional neighborhood. Then use the σ/μ as the focus measure to estimate the shape. The proposed...
A video is a temporally ordered sequence of images. Videos capture appearance from a fixed set of viewpoints, that is where the camera is placed during recording (acquisition). A light field generalizes this idea, by encoding enough information in the recorded data that pictures may be rendered from arbitrarily chosen viewpoints. Typically, light fields are recorded by using several pictures of the...
Nowadays most of the applications of the stereo vision are related to the mobile devices, especially in the field of robotics. It is crucial to develop efficient and robust algorithms that would allow real time operation in a wide range of environments. This paper presents an efficient adaptive algorithm of stereo matching that was applied and optimized for the mobile Graphics Processing Unit. It...
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