Micro Flying Robots: from Active Vision to Event-based Vision

D. Scaramuzza.

ICRA 2016 Aerial Robotics - (Visual odometry)

D. Scaramuzza

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age

. C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. D. Reid, J. J. Leonard.

Visual Odometry: Part I - The First 30 Years and Fundamentals

, D. Scaramuzza and F. Fraundorfer, IEEE Robotics and Automation Magazine, Volume 18, issue 4, 2011

Visual Odometry: Part II - Matching, robustness, optimization, and applications

, F. Fraundorfer and D. Scaramuzza, IEEE Robotics and Automation Magazine, Volume 19, issue 2, 2012

Large-scale, real-time visual-inertial localization revisited

S. Lynen, B. Zeisl, D. Aiger, M. Bosse, J. Hesch, M. Pollefeys, R. Siegwart and T. Sattler. Arxiv 2019.

Open Source Structure-from-Motion

. M. Leotta, S. Agarwal, F. Dellaert, P. Moulon, V. Rabaud. CVPR 2015 Tutorial (material).

Large-scale 3D Reconstruction from Images

. T. Shen, J. Wang, T.Fang, L. Quan. ACCV 2016 Tutorial.

Multi-View Stereo: A Tutorial

. Y. Furukawa, C. Hernández. Foundations and Trends® in Computer Graphics and Vision, 2015.

State of the Art 3D Reconstruction Techniques

N. Snavely, Y. Furukawa, CVPR 2014 tutorial slides. Introduction MVS with priors - Large scale MVS

3D indoor scene modeling from RGB-D data: a survey

K. Chen, YK. Lai and SM. Hu. Computational Visual Media 2015.

State of the Art on 3D Reconstruction with RGB-D Cameras

K. Hildebrandt and C. Theobalt EUROGRAPHICS 2018.

Introduction of Visual SLAM, Structure from Motion and Multiple View Stereo

. Yu Huang 2014.

Computer Vision: Algorithms and Applications

. R. Szeliski. 2010.

Real-time simultaneous localisation and mapping with a single camera

. A. J. Davison. ICCV 2003.

Visual odometry

. D. Nister, O. Naroditsky, and J. Bergen. CVPR 2004.

Real time localization and 3d reconstruction

. E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and P. Sayd. CVPR 2006.

Parallel Tracking and Mapping for Small AR Workspaces

. G. Klein, D. Murray. ISMAR 2007.

Real-Time 6-DOF Monocular Visual SLAM in a Large-scale Environments

. H. Lim, J. Lim, H. Jin Kim. ICRA 2014.

Direct Sparse Odometry

, J. Engel, V. Koltun, D. Cremers, arXiv:1607.02565, 2016.

Visual SLAM algorithms: a survey from 2010 to 2016

, T. Taketomi, H. Uchiyama, S. Ikeda, IPSJ T Comput Vis Appl 2017.

∇SLAM: Dense SLAM meets Automatic Differentiation

. K. M. Jatavallabhula, G. Iyer, L. Paull. arXiv:1910.10672, 2019.

Direct Sparse Mapping

J. Zubizarreta, I. Aguinaga and J. M. M. Montiel. arXiv:1904.06577, 2019.

OpenVSLAM: A Versatile Visual SLAM Framework

Sumikura, Shinya and Shibuya, Mikiya and Sakurada, Ken. In Proceedings of the 27th ACM International Conference on Multimedia 2019

Photo Tourism: Exploring Photo Collections in 3D

. N. Snavely, S. M. Seitz, and R. Szeliski. SIGGRAPH 2006.

Towards linear-time incremental structure from motion

. C. Wu. 3DV 2013.

Structure-from-Motion Revisited

. Schöenberger, Frahm. CVPR 2016.

Combining two-view constraints for motion estimation

V. M. Govindu. CVPR, 2001.

Lie-algebraic averaging for globally consistent motion estimation

. V. M. Govindu. CVPR, 2004.

Robust rotation and translation estimation in multiview reconstruction

. D. Martinec and T. Pajdla. CVPR, 2007.

Non-sequential structure from motion

. O. Enqvist, F. Kahl, and C. Olsson. ICCV OMNIVIS Workshops 2011.

Global motion estimation from point matches

. M. Arie-Nachimson, S. Z. Kovalsky, I. KemelmacherShlizerman, A. Singer, and R. Basri. 3DIMPVT 2012.

Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion

. P. Moulon, P. Monasse and R. Marlet. ICCV 2013.

A Global Linear Method for Camera Pose Registration

. N. Jiang, Z. Cui, P. Tan. ICCV 2013.

Global Structure-from-Motion by Similarity Averaging

. Z. Cui, P. Tan. ICCV 2015.

Linear Global Translation Estimation from Feature Tracks

Z. Cui, N. Jiang, C. Tang, P. Tan, BMVC 2015.

Structure-and-Motion Pipeline on a Hierarchical Cluster Tree

. A. M.Farenzena, A.Fusiello, R. Gherardi. Workshop on 3-D Digital Imaging and Modeling, 2009.

Randomized Structure from Motion Based on Atomic 3D Models from Camera Triplets

. M. Havlena, A. Torii, J. Knopp, and T. Pajdla. CVPR 2009.

Efficient Structure from Motion by Graph Optimization

. M. Havlena, A. Torii, and T. Pajdla. ECCV 2010.

Hierarchical structure-and-motion recovery from uncalibrated images

. Toldo, R., Gherardi, R., Farenzena, M. and Fusiello, A.. CVIU 2015.

Parallel Structure from Motion from Local Increment to Global Averaging

. S. Zhu, T. Shen, L. Zhou, R. Zhang, J. Wang, T. Fang, L. Quan. arXiv 2017.

Multistage SFM : Revisiting Incremental Structure from Motion

. R. Shah, A. Deshpande, P. J. Narayanan. 3DV 2014. -> Multistage SFM: A Coarse-to-Fine Approach for 3D Reconstruction, arXiv 2016.

HSfM: Hybrid Structure-from-Motion

. H. Cui, X. Gao, S. Shen and Z. Hu, ICCV 2017.

Robust Structure from Motion in the Presence of Outliers and Missing Data

. G. Wang, J. S. Zelek, J. Wu, R. Bajcsy. 2016.

Skeletal graphs for efficient structure from motion

. N. Snavely, S. Seitz, R. Szeliski. CVPR 2008

Optimizing the Viewing Graph for Structure-from-Motion

. C. Sweeney, T. Sattler, M. Turk, T. Hollerer, M. Pollefeys. ICCV 2015

Graph-Based Consistent Matching for Structure-from-Motion

. T. Shen, S. Zhu, T. Fang, R. Zhang, L. Quan. ECCV 2016.

Unordered feature tracking made fast and easy

. P. Moulon and P. Monasse. CVMP 2012.

Point Track Creation in Unordered Image Collections Using Gomory-Hu Trees

. Svärm, Simayijiang, Enqvist, Olsson. ICPR 2012.

Video Google: A Text Retrieval Approach to Object Matching in Video

. J. Sivic, F. Schaffalitzky and A. Zisserman. ICCV 2003.

Scalable Recognition with a Vocabulary Tree

. Nister, Stewenius, CVPR 2006.

Building Rome in a Day

. S. Agarwal, N. Snavely, I. Simon, S. M. Seitz, R. Szeliski. ICCV 2009.

Product quantization for nearest neighbor search

. H. Jégou, M. Douze and C. Schmid. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2011.

Fast and Accurate Image Matching with Cascade Hashing for 3D Reconstruction

. J. Cheng, C. Leng, J. Wu, H. Cui, H. Lu. CVPR 2014.

Recent developments in large-scale tie-point matching

. Hartmann, Havlena, Schindler. ISPRS 2016.

Graphmatch: Efficient Large-Scale Graph Construction for Structure from Motion

. C. Qiaodong, V. Fragoso, C. Sweeney and P. Sen. 3DV 2017.

Real-time Image-based 6-DOF Localization in Large-Scale Environments

. Lim, Sinha, Cohen, Uyttendaele. CVPR 2012.

Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization

. Lynen, Sattler, Bosse, Hesch, Pollefeys, Siegwart. RSS 2015.

DSAC - Differentiable RANSAC for Camera Localization

. E. Brachmann, A. Krull, S. Nowozin, J. Shotton, F. Michel, S. Gumhold, C. Rother. CVPR 2017.

Learning Less is More - 6D Camera Localization via 3D Surface Regression

. E. Brachmann, C. Rother. Submitted to CVPR 2018.

Accurate, Dense, and Robust Multiview Stereopsis

. Y. Furukawa, J. Ponce. CVPR 2007. PAMI 2010

State of the art in high density image matching

. F. Remondino, M.G. Spera, E. Nocerino, F. Menna, F. Nex . The Photogrammetric Record 29(146), 2014.

Progressive prioritized multi-view stereo

. A. Locher, M. Perdoch and L. Van Gool. CVPR 2016.

Pixelwise View Selection for Unstructured Multi-View Stereo

. J. L. Schönberger, E. Zheng, M. Pollefeys, J.-M. Frahm. ECCV 2016.

TAPA-MVS: Textureless-Aware PAtchMatch Multi-View Stereo

. A. Romanoni, M. Matteucci. ICCV 2019

Efficient Multi-View Reconstruction of Large-Scale Scenes using Interest Points, Delaunay Triangulation and Graph Cuts

. P. Labatut, J-P. Pons, R. Keriven. ICCV 2007

Multi-View Stereo via Graph Cuts on the Dual of an Adaptive Tetrahedral Mesh

. S. N. Sinha, P. Mordohai and M. Pollefeys. ICCV 2007.

Towards high-resolution large-scale multi-view stereo

. H.-H. Vu, P. Labatut, J.-P. Pons, R. Keriven. CVPR 2009.

Refinement of Surface Mesh for Accurate Multi-View Reconstruction

. R. Tylecek and R. Sara. IJVR 2010.

High Accuracy and Visibility-Consistent Dense Multiview Stereo

. H.-H. Vu, P. Labatut, J.-P. Pons, R. Keriven. Pami 2012.

Exploiting Visibility Information in Surface Reconstruction to Preserve Weakly Supported Surfaces

M. Jancosek et al. 2014.

Floating Scale Surface Reconstruction

S. Fuhrmann and M. Goesele. SIGGRAPH 2014

A New Variational Framework for Multiview Surface Reconstruction

. B. Semerjian. ECCV 2014.

Photometric Bundle Adjustment for Dense Multi-View 3D Modeling

. A. Delaunoy, M. Pollefeys. CVPR2014.

Global, Dense Multiscale Reconstruction for a Billion Points

. B. Ummenhofer, T. Brox. ICCV 2015.

Efficient Multi-view Surface Refinement with Adaptive Resolution Control

. S. Li, S. Yu Siu, T. Fang, L. Quan. ECCV 2016.

Multi-View Inverse Rendering under Arbitrary Illumination and Albedo

, K. Kim, A. Torii, M. Okutomi, ECCV2016.

Shading-aware Multi-view Stereo

, F. Langguth and K. Sunkavalli and S. Hadap and M. Goesele, ECCV 2016.

Scalable Surface Reconstruction from Point Clouds with Extreme Scale and Density Diversity

, C. Mostegel, R. Prettenthaler, F. Fraundorfer and H. Bischof. CVPR 2017.

Multi-View Stereo with Single-View Semantic Mesh Refinement

, A. Romanoni, M. Ciccone, F. Visin, M. Matteucci. ICCVW 2017

Out-of-Core Surface Reconstruction via Global T GV Minimization

N. Poliarnyi. Agisoft. 2021.

Matchnet: Unifying feature and metric learning for patch-based matching

, X. Han, Thomas Leung, Y. Jia, R. Sukthankar, A. C. Berg. CVPR 2015.

Stereo matching by training a convolutional neural network to compare image patches

, J., Zbontar, and Y. LeCun. JMLR 2016.

Efficient deep learning for stereo matching

, W. Luo, A. G. Schwing, R. Urtasun. CVPR 2016.

Learning a multi-view stereo machine

, A. Kar, C. Häne, J. Malik. NIPS 2017.

Learned multi-patch similarity

, W. Hartmann, S. Galliani, M. Havlena, L. V. Gool, K. Schindler.I CCV 2017.

Surfacenet: An end-to-end 3d neural network for multiview stereopsis

, Ji, M., Gall, J., Zheng, H., Liu, Y., Fang, L. ICCV2017.

DeepMVS: Learning Multi-View Stereopsis

, Huang, P. and Matzen, K. and Kopf, J. and Ahuja, N. and Huang, J. CVPR 2018.

RayNet: Learning Volumetric 3D Reconstruction with Ray Potentials

, D. Paschalidou and A. O. Ulusoy and C. Schmitt and L. Gool and A. Geiger. CVPR 2018.

MVSNet: Depth Inference for Unstructured Multi-view Stereo

, Y. Yao, Z. Luo, S. Li, T. Fang, L. Quan. ECCV 2018.

Learning Unsupervised Multi-View Stereopsis via Robust Photometric Consistency

, T. Khot, S. Agrawal, S. Tulsiani, C. Mertz, S. Lucey, M. Hebert. 2019.

DPSNET: END-TO-END DEEP PLANE SWEEP STEREO

, Sunghoon Im, Hae-Gon Jeon, Stephen Lin, In So Kweon. 2019.

Point-based Multi-view Stereo Network

, Rui Chen, Songfang Han, Jing Xu, Hao Su. ICCV 2019.

UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstruction

M. Oechsle, S. Peng, and A. Geiger. ICCV 2021.

Seamless image-based texture atlases using multi-band blending

. C. Allène, J-P. Pons and R. Keriven. ICPR 2008.

Let There Be Color! - Large-Scale Texturing of 3D Reconstructions

. M. Waechter, N. Moehrle, M. Goesele. ECCV 2014.

Submodular Trajectory Optimization for Aerial 3D Scanning

. M. Roberts, A. Truong, D. Dey, S. Sinha, A. Kapoor, N. Joshi, P. Hanrahan. 2017.

Bundler

GNU General Public License - contamination

Colmap

BSD 3-clause license - Permissive

TeleSculptor

BSD 3-Clause license - Permissive

MicMac

CeCILL-B

MVE

BSD 3-Clause license + parts under the GPL 3 license

OpenMVG

MPL2 - Permissive

OpenSfM

Python

TheiaSfM

New BSD license - Permissive

OpenGV

BSD - permissive

Colmap

BSD 3-clause license - Permissive

GPUIma + fusibile

C++ CUDA

HPMVS

GNU General Public License - contamination

MICMAC

CeCILL-B

MVE

BSD 3-Clause license + parts under the GPL 3 license

OpenMVS

C++ (CUDA optional)

PMVS

C++ CUDA

SMVS Shading-aware Multi-view Stereo

BSD-3-Clause license

COSLAM

GNU General Public License

DSO-Direct Sparse Odometry

GPLv3

DTSLAM-Deferred Triangulation SLAM

modified BSD

LSD-SLAM

C++/ROS

MAPLAB-ROVIOLI

C++/ROS

OKVIS: Open Keyframe-based Visual-Inertial SLAM

BSD

ORB-SLAM

GPLv3

REBVO - Realtime Edge Based Visual Odometry for a Monocular Camera

GNU General Public License

SVO semi-direct Visual Odometry

C++/ROS

DBoW2

modified BSD License

libvot

BSD 3-Clause License

VocabTree2

BSD License

CERES SOLVER

BSD License

GTSAM

BSD License

G2O

BSD License + L/GPL3 restriction

NLOPT

LGPL

ANN

GNU General Public License

Annoy

Apache License

FLANN

BSD License

Libnabo

BSD License

Nanoflann

BSD License

3DTK

GPLv3

CGAL

Module dependent GPL/LGPL

InstantMesh

BSD License

GEOGRAM

Revised BSD License

libigl

MPL2

Mesh-processing-library

MIT License

Open3D

MIT License

OpenMesh

BSD 3 clause license

PCL

3-clause BSD license

VCG

GPL

From handcrafted to deep local features

. G. Csurka, C. R. Dance, M. Humenberger. 2018.

AKAZE

MSURF/MLDB

DART

x

KAZE

MSURF/MLDB

LIOP/MIOP

x

LIFT (machine learning)

x

SFOP

HIPS

x

LATCH

x

PhonySift

Reduced Sift grid

VGG Oxford

8 dataset with GT homographies + matlab code.

Hannover - Region Detector Evaluation Data Set

Similar to the previous (5 dataset). Datasets have multiple image resolution & an increased GT homographies precision.

DTU - Robot Image Data Sets - Point Feature Data Set

60 scenes with know calibration & different illuminations.

Multi-view Stereo Correspondence Dataset

HPatches

Dataset linked to the ECCV16 workshop "Local Features: State of the art, open problems and performance evaluation"

Mono dataset

50 real-world sequences. Dataset linked to the DSO Visual Odometry paper.

Middlebury Multi-view Stereo

See "A Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms". CVPR 2006.

Dense MVS

See "On Benchmarking Camera Calibration and Multi-View Stereo for High Resolution Imagery". CVPR 2008.

DTU - Robot Image Data Sets -MVS Data Set

See “Large Scale Multi-view Stereopsis Evaluation“. CVPR 2014.

A Multi-View Stereo Benchmark with High-Resolution Images and Multi-Camera Videos in Unstructured Scenes

, T. Schöps, J. L. Schönberger, S. Galiani, T. Sattler, K. Schindler, M. Pollefeys, A. Geiger,. CVPR 2017.

Tanks and Temples: Benchmarking Large-Scale Scene Reconstruction

, A. Knapitsch, J. Park, Q.Y. Zhou and V. Koltun. SIGGRAPH 2017.