Arecenteffort toperform attention-based matching alongtheepipolar linesofsourceimages [32],suffersinstead from sensitivity to inaccurate camera pose and calibration, which can in turn results to erroneous matching. Another key step in contemporary learned MVS methods is the regularization of cost volume, generated by stacking cost maps associated with respective depth hypotheses.

We present a new method to reconstruct 3D human body pose and shape by fusing visual features from multiview images captured by uncalibrated cameras. Existing multiview approaches often use spatial camera calibration (intrinsic and extrinsic parameters) to geometrically align and fuse visual features. Despite remarkable performances, the requirement of camera calibration restricted their applicability to real-world scenarios, e.g., reconstruction from social videos with wide-baseline cameras. We address this challenge by leveraging the commonly observed human body as a semantic calibration target, which eliminates the requirement of camera calibration. Specifically, we map per-pixel image features to a canonical body surface coordinate system agnostic to views and poses using dense keypoints (correspondences). This feature mapping allows us to semantically, instead of geometrically, align and fuse visual features from multiview images. We learn a self-attention mechanism to reason about the confidence of visual features across and within views. With fused visual features, a regressor is learned to predict the parameters of a body model. We demonstrate that our calibration-free multiview fusion method reliably reconstructs 3D body pose and shape, outperforming state-of-the-art single view methods with post-hoc multiview fusion, particularly in the presence of non-trivial occlusion, and showing comparable accuracy to multiview methods that require calibration.

However, the unknown intrinsic parameter hinders their development and deployment.

Specifically, we map per-pixel image features to a canonical body surface coordinate system agnostic to views and poses using dense keypoints (correspondences). This feature mapping allows us to semantically, instead of geometrically, align and fuse visual features from multiview images.

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised depth networks rely on ground-truth depth data that is impractical to collect at scale. Additionally, existing methods assume that camera parameters are available, limiting their applicability in scenarios like crowdsourced high-definition (HD) lane mapping. To address these limitations, we propose Depth3DLane, a novel dual-pathway framework that integrates self-supervised monocular depth estimation to provide explicit structural information, without the need for expensive sensors or additional ground-truth depth data. Leveraging a self-supervised depth network to obtain a point cloud representation of the scene, our bird's-eye view pathway extracts explicit spatial information, while our front view pathway simultaneously extracts rich semantic information. Depth3DLane then uses 3D lane anchors to sample features from both pathways and infer accurate 3D lane geometry. Furthermore, we extend the framework to predict camera parameters on a per-frame basis and introduce a theoretically motivated fitting procedure to enhance stability on a per-segment basis. Extensive experiments demonstrate that Depth3DLane achieves competitive performance on the OpenLane benchmark dataset. Furthermore, experimental results show that using learned parameters instead of ground-truth parameters allows Depth3DLane to be applied in scenarios where camera calibration is infeasible, unlike previous methods.

Acquisition of high-quality images for camera calibration in robotics applications via speech prompts P REPRINT Timm Linder 1, Kadir Yilmaz 2, David Adrian 1, and Bastian Leibe 2 1 Bosch Corporate Research & Bosch Center for AI, Renningen, Germany 2 Computer Vision Group, RWTH Aachen University, Germany A BSTRACT Accurate intrinsic and extrinsic camera calibration can be an important prerequisite for robotic applications that rely on vision as input. While there is ongoing research on enabling camera calibration using natural images, many systems in practice still rely on using designated calibration targets with e. g. checkerboard patterns or April tag grids. Once calibration images from different perspectives have been acquired and feature descriptors detected, those are typically used in an optimization process to minimize the geometric reprojection error. For this optimization to converge, input images need to be of sufficient quality and particularly sharpness; they should neither contain motion blur nor rolling-shutter artifacts that can arise when the calibration board was not static during image capture. In this work, we present a novel calibration image acquisition technique controlled via voice commands recorded with a clip-on microphone, that can be more robust and user-friendly than e. g. triggering capture with a remote control, or filtering out blurry frames from a video sequence in postprocessing.