Augmented/mixed reality and robotic applications are increasingly relying on cloud-based localization services, which require users to upload query images to perform camera pose estimation on a server. This raises significant privacy concerns when …

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 3D point clouds of the scene to enable camera pose estimation, but …

We propose a novel method for the geometric registration of semantically labeled regions. We approximate semantic regions by ellipsoids, and leverage their convexity to formulate the correspondence search effectively as a constrained optimization …

We show that the solution space can be reduced by introducing Linear Matrix Inequality (LMI) constraints. This leads to significant speed ups of the optimization time even for large amounts of outliers, while maintaining global optimality.

We present a real-time method for rendering novel virtual camera views from given RGB-D (color and depth) data of a different viewpoint. Missing color and depth information due to incomplete input or disocclusions is efficiently inpainted in a …

We present a system to generate building information models (BIMs) of house interiors from 3D scans. The strength of our approach is its simplicity and low runtime which allows for mobile processing applications. We consider scans of single floor, …

We propose a novel prior for variational 3D reconstruction that favors symmetric solutions when dealing with noisy or incomplete data. We detect symmetries from incomplete data while explicitly handling unexplored areas to allow for plausible scene …

Structure-from-Motion can achieve accurate reconstructions of urban scenes. However, reconstructing the inside and the outside of a building into a single model is very challenging due to the lack of visual overlap and the change of lighting …