论文标题
它在哪里结束？ - 通过对象交点约束对隐藏表面的推理
Where Does It End? -- Reasoning About Hidden Surfaces by Object Intersection Constraints
论文作者
论文摘要
动态场景理解是机器人技术和VR/AR的重要能力。在本文中，我们提出了共同剖面，这是一种基于优化的3D动态场景重建方法，该方法从相交的约束中渗透了隐藏的形状信息。对象级的动态猛击前端检测场景中的动态对象。我们的优化后端使用船体和对象之间的交点约束完成了形状。在实验中，我们演示了有关真实和合成动态场景数据集的方法。我们还定量评估方法的形状完成性能。据我们所知，我们的方法是将这种物理合理性约束纳入对象交叉点上的第一种方法，以在能量最小化框架中形成动态对象的形状。
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.
