SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks

no code implementations • ICCV 2021 • Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison

At test time, our model can generate 3D shape and instance segmentation from a single depth view, probabilistically sampling proposals for the occluded region from the learned latent space.

Instance Segmentation Segmentation +2

CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations

no code implementations • 19 Jul 2021 • Hidenobu Matsuki, Raluca Scona, Jan Czarnowski, Andrew J. Davison

In this paper we propose a dense mapping framework to complement sparse visual SLAM systems which takes as input the camera poses, keyframes and sparse points produced by the SLAM system and predicts a dense depth image for every keyframe.

3D Reconstruction Depth Estimation +1