Where Does It End? -- Reasoning About Hidden Surfaces by Object Intersection Constraints
| Autor: | Michael Strecke, Jörg Stückler |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
Computer science business.industry Computer Vision and Pattern Recognition (cs.CV) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Computer Science - Computer Vision and Pattern Recognition 020207 software engineering Robotics 02 engineering and technology Iterative reconstruction Simultaneous localization and mapping Object (computer science) Intersection 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Surface reconstruction ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | CVPR |
| Popis: | Dynamic scene understanding is an essential capability in robotics and VR/AR. In this paper we propose Co-Section, an optimization-based approach to 3D dynamic scene reconstruction, which infers hidden shape information from intersection constraints. An object-level dynamic SLAM frontend detects, segments, tracks and maps dynamic objects in the scene. Our optimization backend completes the shapes using hull and intersection constraints between the objects. In experiments, we demonstrate our approach on real and synthetic dynamic scene datasets. We also assess the shape completion performance of our method quantitatively. To the best of our knowledge, our approach is the first method to incorporate such physical plausibility constraints on object intersections for shape completion of dynamic objects in an energy minimization framework. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020, Project page: https://cosection.is.tue.mpg.de/, Source code: https://github.com/EmbodiedVision/cosection |
| Databáze: | OpenAIRE |
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