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Intensity-based TrackingScientific Director: Nassir NavabContact Person(s): Selim Benhimane |
Abstract
In this project, we are interested in the fundamental problem of simultaneously tracking a piecewise-planar scene and accurately estimating the 3D displacement of the camera. The objective is to have an algorithm with a higher convergence frequency and a higher convergence rate than standard optimization methods while having an equivalent computational complexity. Since the tracking is aimed to be used in industrial real-time augmented reality applications, in addition to the robustness and the speed performance, the algorithm should be very precise. For some applications, we are investigating alternatives where an off-line learning step improves the efficiency and the convergence properties of the tracking algorithm.Pictures
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Videos
Publications
| 2021 | |
| P. Wang, F. Manhardt, L. Minciullo, L. Garattoni, S. Meier, N. Navab, B. Busam
DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstration International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021 The first two authors contributed equally to this paper. (bib) |
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| S. Garg, H. Dhamo, A. Farshad, S. Musatian, N. Navab, F. Tombari
Unconditional Scene Graph Generation IEEE International Conference on Computer Vision (ICCV), October 2021 The first two authors contributed equally. (bib) |
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| H. Dhamo, F. Manhardt, N. Navab, F. Tombari
Graph-to-3D: End-to-End Generation and Manipulation of 3D Scenes using Scene Graphs IEEE International Conference on Computer Vision (ICCV), October 2021 The first two authors contributed equally. (bib) |
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| Y. Di, F. Manhardt, G. Wang, X. Ji, F. Tombari, N. Navab
SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimation IEEE International Conference on Computer Vision (ICCV), October 2021 (bib) |
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S. Wu, J. Wald, K. Tateno, N. Navab, F. Tombari
SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences IEEE Computer Vision and Pattern Recognition (CVPR), June 2021. (bib) |
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G. Wang, F. Manhardt, F. Tombari, X. Ji
GDR-Net: Geometry-Guided Direct Regression Network for Monocular 6D Object Pose Estimationi IEEE Computer Vision and Pattern Recognition (CVPR), June 2021 (bib) |
| L. Minciullo, F. Manhardt, K. Yoshikawa, S. Meier, F. Tombari, N. Kobori
DB-GAN: Boosting Object Recognition Under Strong Lighting Conditions Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), January 2021. The first two authors contributed equally to this paper. (bib) |
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| 2020 | |
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S. Wu, K. Tateno, N. Navab, F. Tombari
SCFusion: Real-time Incremental Scene Reconstruction with Semantic Completion International Conference on 3D Vision 2020 (bib) |
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M. Saleh, S. Dehghani, B. Busam, N. Navab, F. Tombari
Graphite: Graph-Induced feaTure Extraction for Point Cloud Registration 3DV Oral 2020 (bib) |
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F. Manhardt, G. Wang, B. Busam, M. Nickel, S. Meier, L. Minciullo, X. Ji, N. Navab
CPS++: Improving Class-level 6D Pose and Shape Estimation From Monocular Images With Self-Supervised Learning arXiv/2003.05848v3, September 2020 (bib) |
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R. Kaskman, I. Shugurov, S. Zakharov, S. Ilic
6DoF Pose Estimation of Textureless Objects from Multiple RGB Frames European Conference on Computer Vision Workshops (ECCVW), Online, August 2020. (bib) |
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Y. Wang, D. J. Tan , N. Navab, F. Tombari
SoftPoolNet: Shape Descriptor for Point Cloud Completion and Classification European Conference on Computer Vision (ECCV) (bib) |
| J. Wald, T. Sattler, S. Golodetz, T. Cavallari, F. Tombari
Beyond Controlled Environments: 3D Camera Re-Localization in Changing Indoor Scenes European Conference on Computer Vision (ECCV), August 2020. (bib) |
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Y. Li, N. Brasch, Y. Wang, N. Navab, F. Tombari
Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments International Conference on Intelligent Robots and Systems (IROS), October 25-29, 2020. Las Vegas, USA. The first two authors contributed equally. (bib) |
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S. Zakharov, W. Kehl, A. Bhargava, A. Gaidon
Autolabeling 3D Objects with Differentiable Rendering of SDF Shape Priors IEEE Computer Vision and Pattern Recognition (CVPR), Seattle, WA, USA, June 2020 [oral]. The first two authors contributed equally to this work. (bib) |
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J. Wald, H. Dhamo, N. Navab, F. Tombari
Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions IEEE Computer Vision and Pattern Recognition (CVPR), Seattle, WA, USA, June 2020 The first two authors contributed equally. (bib) |
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H. Dhamo, A. Farshad, I. Laina, N. Navab, G. D. Hager, F. Tombari, C. Rupprecht
Semantic Image Manipulation Using Scene Graphs IEEE Computer Vision and Pattern Recognition (CVPR), Seattle, WA, USA, June 2020 The first two authors contributed equally. (bib) |
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G. Wang, F. Manhardt, J. Shao, X. Ji, N. Navab, F. Tombari
Self6D: Self-Supervised Monocular 6D Object Pose Estimation European Conference On Computer Vision (ECCV), Glasgow, Scotland, August [oral]. The first two authors contributed equally to this paper. (bib) |
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M. Slavcheva, M. Baust, S. Ilic
Variational Level Set Evolution for Non-rigid 3D Reconstruction from a Single Depth Camera IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI). The final publication is available at ieeexplore.ieee.org. (supplementary) (bib) |
| 2019 | |
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Y. Wang, D. J. Tan , N. Navab, F. Tombari
ForkNet: Multi-branch Volumetric Semantic Completion from a Single Depth Image International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib) |
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F. Manhardt, D. Arroyo, C. Rupprecht, B. Busam, T. Birdal, N. Navab, F. Tombari
Explaining the Ambiguity of Object Detection and 6D Pose From Visual Data International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib) |
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B. Planche, S. Zakharov, Z. Wu, A. Hutter, H. Kosch, S. Ilic
Seeing Beyond Appearance - Mapping Real Images into Geometrical Domains for Unsupervised CAD-based Recognition International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019. The first two authors contributed equally to this work. (bib) |
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S. Zakharov, W. Kehl, S. Ilic
DeceptionNet: Network-Driven Domain Randomization International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019. (bib) |
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S. Zakharov, I. Shugurov, S. Ilic
DPOD: 6D Pose Object Detector and Refiner International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019. The first two authors contributed equally to this work. (bib) |
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R. Kaskman, S. Zakharov, I. Shugurov, S. Ilic
HomebrewedDB: RGB-D Dataset for 6D Pose Estimation of 3D Objects International Conference on Computer Vision Workshops (ICCVW), Seoul, Korea, October 2019. (bib) |
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H. Dhamo, N. Navab, F. Tombari
Object-driven Multi-Layer Scene Decomposition from a Single Image International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 (bib) |
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J. Wald, A. Avetisyan, N. Navab, F. Tombari, M. Niessner
RIO: 3D Object Instance Re-Localization in Changing Indoor Environments International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 [oral]. The last two authors share senior authorship. (bib) |
| J. Postel, F. Ferroni, H. Coskun, N. Navab, F. Tombari
Sampling-free Epistemic Uncertainty Estimation Using Approximated Variance Propagation International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019 [oral]. (bib) |
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Y. Zhao, T. Birdal, H. Deng, F. Tombari
3D Point-Capsule Networks IEEE Computer Vision and Pattern Recognition (CVPR), Long Beach, United States, June 2019 (bib) |
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T. Birdal, U. Simsekli
Probabilistic Permutation Synchronization using the Riemannian Structure of the Birkhoff Polytope IEEE Computer Vision and Pattern Recognition (CVPR), Long Beach, United States, June 2019 [oral] (bib) |
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F. Manhardt, W. Kehl, A. Gaidon
ROI-10D: Monocular Lifting of 2D Detection to 6D Pose and Metric Shape IEEE Computer Vision and Pattern Recognition (CVPR), Long Beach, United States, June 2019 The first two authors contributed equally. (bib) |
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H. Deng, T. Birdal, S. Ilic
3D Local Features for Direct Pairwise Registration IEEE Computer Vision and Pattern Recognition (CVPR), Long Beach, United States, June 2019 (bib) |
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H. Dhamo, K. Tateno, I. Laina, N. Navab, F. Tombari
Peeking Behind Objects: Layered Depth Prediction from a Single Image Pattern Recognition Letters, Vol. 125, 2019 (bib) |
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Y. Gao, Y. Wang, , N. Navab, F. Tombari
Variational Object-aware 3D Hand Pose from a Single RGB Image IEEE Robotics and Automation Letters 2019 (bib) |
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T. Birdal, B. Busam, N. Navab, S. Ilic, P. Sturm
Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2019 (bib) |
| 2018 | |
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T. Birdal, U. Simsekli, M. O. Eken, S. Ilic
Bayesian Pose Graph Optimization via Bingham Distributions and Tempered Geodesic MCMC Advances in Neural Information Processing Systems Conference (NIPS), Montréal, Quebec, Canada 2018 (poster) (supplementary) (bib) |
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M. Turan, Y. Almalioglu, E.P. Ornek, H. Araujo, M.F. Yanik, M. Sitti
Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots IEEE International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018. (bib) |
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M. Turan, E.P. Ornek, N. Ibrahimli, C. Giracoglu, Y. Almalioglu, M.F. Yanik, M. Sitti
Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots IEEE International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018. (bib) |
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Y. Nakajima , K. Tateno, F. Tombari, H. Saito
Fast and Accurate Semantic Mapping through Geometric-based Incremental Segmentation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October, 2018. (bib) |
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J. Wald, K. Tateno, J. Sturm, N. Navab, F. Tombari
Real-Time Fully Incremental Scene Understanding on Mobile Platforms IEEE Robotics and Automation Letters (presented at IROS), Madrid, Spain, October 2018 (bib) |
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Y. Wang, D. J. Tan , N. Navab, F. Tombari
Adversarial Semantic Scene Completion from a Single Depth Image International Conference on 3D Vision (3DV), 2018 (bib) |
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H. Deng, T. Birdal, S. Ilic
PPF-FoldNet: Unsupervised Learning of Rotation Invariant 3D Local Descriptors European Conference On Computer Vision (ECCV), Munich, Germany, September 2018 (bib) |
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K. Tateno, N. Navab, F. Tombari
Distortion-Aware Convolutional Filters for Dense Prediction in Panoramic Images 15th European Conference on Computer Vision (ECCV), Munich, Germany, September, 2018. (bib) |
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S. Zakharov, B. Planche, Z. Wu, A. Hutter, H. Kosch, S. Ilic
Keep it Unreal: Bridging the Realism Gap for 2.5 D Recognition with Geometry Priors Only International Conference on 3DVision (3DV), Verona, Italy, September 2018 [oral]. The first two authors contributed equally to this work. (bib) |
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A. Haarbach, T. Birdal, S. Ilic
Survey of Higher Order Rigid Body Motion Interpolation Methods for Keyframe Animation and Continuous-Time Trajectory Estimation International Conference on 3D Vision (3DV), Verona, Italy, September 2018 [spotlight] (bib) |
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D. Rethage, J. Wald, J. Sturm, N. Navab, F. Tombari
Fully-Convolutional Point Networks for Large-Scale Point Clouds European Conference On Computer Vision (ECCV), Munich, Germany, September 2018 (bib) |
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F. Manhardt, W. Kehl, N. Navab, F. Tombari
Deep Model-Based 6D Pose Refinement in RGB European Conference On Computer Vision (ECCV), Munich, Germany, September 2018 [oral]. The first two authors contributed equally to this paper. (bib) |
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T. Hodan, F. Michel, E. Brachmann, W. Kehl, A. Buch, D. Kraft, B. Drost, J. Vidal, S. Ihrke, X. Zabulis, C. Sahin, F. Manhardt, F. Tombari, T.K. Kim, J. Matas, C. Rother
BOP: Benchmark for 6D Object Pose Estimation European Conference On Computer Vision (ECCV), Munich, Germany, September 2018. (bib) |
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C. Kozlov, M. Slavcheva, S. Ilic
Patch-based Non-rigid 3D Reconstruction from a Single Depth Stream International Conference on 3D Vision (3DV), Verona, Italy, September 2018 (bib) |
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T. Birdal, B. Busam, N. Navab, S. Ilic, P. Sturm
A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds IEEE Computer Vision and Pattern Recognition (CVPR), Salt Lake City, United States, June 2018 (bib) |
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M. Slavcheva, M. Baust, S. Ilic
SobolevFusion: 3D Reconstruction of Scenes Undergoing Free Non-rigid Motion IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, USA, June 2018 [spotlight] (supplementary) (bib) |
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H. Deng, T. Birdal, S. Ilic
PPFNet: Global Context Aware Local Features for Robust 3D Point Matching IEEE Computer Vision and Pattern Recognition (CVPR), Salt Lake City, United States, June 2018 [spotlight] (bib) |
| 2017 | |
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C.-H. Huang, B. Allain, E. Boyer, J.-S. Franco, F. Tombari, N. Navab, S. Ilic
Tracking-by-Detection of 3D Human Shapes: from Surfaces to Volumes IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) (bib) |
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W. Kehl, F. Tombari, S. Ilic, N. Navab
Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, USA, July 2017 (bib) |
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M. Slavcheva, W. Kehl, N. Navab, S. Ilic
SDF-2-SDF Registration for Real-time 3D Reconstruction from RGB-D Data International Journal of Computer Vision (IJCV), Springer Verlag. The final publication is available at www.springerlink.com. (bib) |
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M. Slavcheva, M. Baust, S. Ilic
Towards Implicit Correspondence in Signed Distance Field Evolution PeopleCap Workshop, IEEE International Conference on Computer Vision (ICCVW), Venice, Italy, October 2017 (bib) |
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T. Birdal, S. Ilic
CAD Priors for Accurate and Flexible Instance Reconstruction International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 (bib) |
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W. Kehl, F. Manhardt, F. Tombari, S. Ilic, N. Navab
SSD-6D: Making RGB-Based 3D Detection and 6D Pose Estimation Great Again International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 [oral]. The first two authors contributed equally to this paper. (bib) |
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H. Coskun, F. Achilles, R. DiPietro?, N. Navab, F. Tombari
Long Short-Term Memory Kalman Filters:Recurrent Neural Estimators for Pose Regularization International Conference on Computer Vision (ICCV), Venice, Italy, October 2017 (bib) |
| D. J. Tan , N. Navab, F. Tombari
6D Object Pose Estimation with Depth Images: A Seamless Approach for Robotic Interaction and Augmented Reality This was submitted as an extended abstract to the demo session and workshop. A pre-print version is available online at arXiv. (bib) |
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S. Zakharov, W. Kehl, B. Planche, A. Hutter, S. Ilic
3D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic Margin International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017 (bib) |
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T. Birdal, S. Ilic
A Point Sampling Algorithm for 3D Matching of Irregular Geometries IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017 (bib) |
| D. J. Tan , N. Navab, F. Tombari
Looking Beyond the Simple Scenarios: Combining Learners and Optimizers in 3D Temporal Tracking IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Nantes, France, 2017 (bib) |
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M. Slavcheva, M. Baust, D. Cremers, S. Ilic
KillingFusion: Non-rigid 3D Reconstruction without Correspondences IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Honolulu, USA, July 2017 [spotlight] (supplementary) (bib) |
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K. Tateno, F. Tombari, I. Laina, N. Navab
CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Hawaii, USA, June, 2017. The first two authors contribute equally to this paper. (bib) |
| D. J. Tan , N. Navab, F. Tombari
Adaptive Learning-based Temporal Tracker for 3D Head Shape Models British Machine Vision Conference, London, UK, September 4-7, 2017 (bib) |
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K. Tateno, F. Tombari, N. Navab
Large Scale and Long Standing Simultaneous Reconstruction and Segmentation Computer Vision and Image Understanding (CVIU), Volume 157, Pages 138-150, April, 2017. The final publication is available at http://www.sciencedirect.com/science/article/pii/S1077314216300662 (bib) |
| 2016 | |
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M. Slavcheva, S. Ilic
SDF-TAR: Parallel Tracking and Refinement in RGB-D Data using Volumetric Registration British Machine Vision Conference (BMVC), York, UK, September 2016 (abstract) (bib) |
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W. Kehl, T. Holl, F. Tombari, S. Ilic, N. Navab
An Octree-Based Approach towards Efficient Variational Range Data Fusion British Machine Vision Conference (BMVC), York, UK, September 2016 (bib) |
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W. Kehl, F. Milletari, F. Tombari, S. Ilic, N. Navab
Deep Learning of Local RGB-D Patches for 3D Object Detection and 6D Pose Estimation European Conference On Computer Vision (ECCV), Amsterdam, The Netherlands, October 2016 (bib) |
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T. Birdal, I. Dobryden, S. Ilic
X-Tag: A Fiducial Tag for Flexible and Accurate Bundle Adjustment International Conference on 3DVision (3DV), Stanford University, California, USA, October 2016 (bib) |
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M. Slavcheva, W. Kehl, N. Navab, S. Ilic
SDF-2-SDF: Highly Accurate 3D Object Reconstruction European Conference on Computer Vision (ECCV), Amsterdam, The Netherlands, October 2016 (supplementary) (bib) |
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V. Haltakov , C. Unger, S. Ilic
Geodesic pixel neighborhoods for 2D and 3D scene understanding. Computer Vision and Image Understanding, Volume 148, July 2016, Pages 164-180 (bib) |
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D. J. Tan , T. Cashman, J. Taylor, A. Fitzgibbon, D. Tarlow, S. Khamis, S. Izadi, J. Shotton
Fits Like a Glove: Rapid and Reliable Hand Shape Personalization IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Las Vegas, USA, June 2016 (bib) |
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C.-H. Huang, B. Allain, J.-S. Franco, N. Navab, S. Ilic, E. Boyer
Volumetric 3D Tracking by Detection IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Las Vegas, USA, June 2016 (spotlight presentation) (supp., poster, spotlight oral video) The first two authors contribute equally to this paper. (bib) |
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F. Grün, C. Rupprecht, N. Navab, F. Tombari
A Taxonomy and Library for Visualizing Learned Features in Convolutional Neural Networks International Conference on Machine Learning (ICML) Workshop on Visualization for Deep Learning, New York, USA, June 23rd, 2016 (bib) |
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K. Tateno, F. Tombari, N. Navab
When 2.5D is not enough: Simultaneous Reconstruction, Segmentation and Recognition on dense SLAM IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 2016 (bib) |
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T. Birdal, E. Bala, T. Eren, S. Ilic
Online Inspection of 3D Parts via a Locally Overlapping Camera Network IEEE Winter Conference on Applications of Computer Vision (WACV), Lake Placid, NY, USA, March 2016 (bib) |
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C.-H. Huang, C. Cagniart, E. Boyer, S. Ilic
A Bayesian Approach to Multi-view 4D Modeling International Journal of Computer Vision (IJCV), Springer Verlag. The final publication is available at www.springerlink.com. The first two authors contribute equally to this paper. (bib) |
| 2015 | |
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W. Kehl, F. Tombari, N. Navab, S. Ilic, V. Lepetit
Hashmod: A Hashing Method for Scalable 3D Object Detection British Machine Vision Conference (BMVC), Swansea, UK, September 2015 (bib) |
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K. Tateno, F. Tombari, N. Navab
Real-Time and Scalable Incremental Segmentation on Dense SLAM IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015 (bib) |
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C.-H. Huang, F. Tombari, N. Navab
Repeatable Local Coordinate Frames for 3D Human Motion Tracking: from Rigid to Non-Rigid International Conference on 3D Vision (3DV), Lyon, France, Oct. 20, 2015 (bib) |
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T. Birdal, S. Ilic
Point Pair Features Based Object Detection and Pose Estimation Revisited IEEE Computer Society Conference on 3D Vision (3DV), Lyon, France, October 2015 [oral] (poster) (bib) |
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V. Haltakov , J. Mayr, C. Unger, S. Ilic
Semantic segmentation based traffic light detection at day and at night. German Conference on Pattern Recognition, 7.-10. October 2015 (bib) |
| M. Baust, L. Demaret, M. Storath, N. Navab, A. Weinmann
Total Variation Regularization of Shape Signals IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Boston, USA, June 8-10 2015. (bib) |
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C.-H. Huang, E. Boyer, B. do Canto Angonese, N. Navab, S. Ilic
Toward User-specific Tracking by Detection of Human Shapes in Multi-Cameras IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Boston, USA, June 2015 (supp., poster) (bib) |
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U. Simsekli, T. Birdal
A Unified Probabilistic Framework for Robust Decoding of Linear Barcodes IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Brisbane, Australia, April 2015 (bib) |
| 2014 | |
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W. Kehl, N. Navab, S. Ilic
Coloured signed distance fields for full 3D object reconstruction British Machine Vision Conference (BMVC), Nottingham, UK, September 2014 (bib) |
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D. J. Tan , S. Ilic
Multi-Forest Tracker: A Chameleon in Tracking IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Columbus, USA, June 24, 2014 (bib) |
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V. Haltakov , C. Unger, S. Ilic
Geodesic pixel neighborhoods for multi-class image segmentation British Machine Vision Conference, 1.-5. September 2014 (bib) |
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V. Castaneda, D. Mateus, N. Navab
Stereo Time-of-Flight with Constructive Interference IEEE Transactions on Pattern Analysis and Machine Inteligence (TPAMI) Volume 36, number 7, pages 1402-1423, 2014. (bib) |
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C.-H. Huang, E. Boyer, N. Navab, S. Ilic
Human Shape and Pose Tracking Using Keyframes IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Columbus, USA, June 24, 2014 (supp., poster) (bib) |
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D. J. Tan , S. Holzer, N. Navab, S. Ilic
Deformable Template Tracking in 1ms (Oral) British Machine Vision Conference, Nottingham, UK, September 1, 2014 (bib) |
| 2013 | |
| F. Milletari, N. Navab, P. Fallavollita
Automatic detection of multiple and overlapping EP catheters in fluoroscopic sequences Proceedings of the 16th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Nagoya, Japan, September 2013 (bib) |
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V. Haltakov , C. Unger, S. Ilic
Framework for generation of synthetic ground truth data for driver assistance applications 35th German Conference on Pattern Recognition, 3.-6. September 2013 (bib) |
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B.-K. Seo, H. Park, J. Park, S. Hinterstoisser, S. Ilic
Optimal Local Searching for Fast and Robust Textureless 3D Object Tracking in Highly Cluttered Backgrounds IEEE Transactions on Visualization and Computer Graphics (TVCG) (bib) |
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C.-H. Huang, E. Boyer, S. Ilic
Robust Human Body Shape and Pose Tracking International Conference on 3D Vision (3DV), Seattle, USA, June 29, 2013 (oral, best paper runner up) (slides, poster) (bib) |
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M. Pavlic, , S. Ilic
Classification of Images in Fog and Fog-Free Scenes for Use in Vehicles Intelligent Vehicles Symposium, Gold Coast, 23-26 June 2013 (bib) |
| 2012 | |
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S. Hinterstoisser, C. Cagniart, S. Ilic, P. Sturm, N. Navab, P. Fua, V. Lepetit
Gradient Response Maps for Real-Time Detection of Texture-Less Objects IEEE Transactions on Pattern Analysis and Maschine Intelligence (TPAMI). (bib) |
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S. Holzer, S. Ilic, N. Navab
Multi-Layer Adaptive Linear Predictors for Real-Time Tracking IEEE Transactions on Pattern Analysis and Maschine Intelligence (TPAMI). (bib) |
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S. Holzer, S. Ilic, D. J. Tan , N. Navab
Efficient Learning of Linear Predictors using Dimensionality Reduction (Oral) Asian Conference on Computer Vision (ACCV), Korea, Daejeon, November 2012 (bib) |
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S. Hinterstoisser, V. Lepetit, S. Ilic, S. Holzer, G. Bradski, K. Konolige, N. Navab
Model Based Training, Detection and Pose Estimation of Texture-Less 3D Objects in Heavily Cluttered Scenes Asian Conference on Computer Vision (ACCV), Korea, Daejeon, November 2012 (bib) |
| S. Holzer, J. Shotton, P. Kohli
Learning to Efficiently Detect Repeatable Interest Points in Depth Data 12th European Conference on Computer Vision (ECCV), Firenze, Italy, October 2012. (bib) |
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S. Holzer, M. Pollefeys , S. Ilic, D. J. Tan , N. Navab
Online Learning of Linear Predictors for Real-Time Tracking 12th European Conference on Computer Vision (ECCV), Firenze, Italy, October 2012. (bib) |
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T. Birdal, D. Mateus, S. Ilic
Towards A Complete Framework For Deformable Surface Recovery Using RGBD Cameras IEEE IROS'12 Workshop on Color-Depth Fusion in Robotics, Vila Moura, Portugal, October 2012 (bib) |
| S. Holzer, R. B. Rusu, M. Dixon, S. Gedikli, N. Navab
Real-Time Surface Normal Estimation from Organized Point Cloud Data Using Integral Images IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vila Moura, Algarve, Portugal, October 2012. (bib) |
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M. Pavlic, H. Belzner, , S. Ilic
Image Based Fog Detection in Vehicles Intelligent Vehicles Symposium, Alcalá de Henares 4.-6. June 2012 (bib) |
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V. Haltakov , H. Belzner, S. Ilic
Scene Understanding From a Moving Camera for Object Detection and Free Space Estimation Intelligent Vehicles Symposium, Alcalá de Henares 4.-6. June 2012 (bib) |
| M. Baust, A. Yezzi, G. Unal, N. Navab
Translation, Scale, and Deformation Weighted Polar Active Contours Journal of Mathematical Imaging and Vision (JMIV), Springer, 2012. (bib) |
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| L. Schwarz, A. Mkhitaryan, D. Mateus, N. Navab
Human Skeleton Tracking from Depth Data Using Geodesic Distances and Optical Flow Image and Vision Computing, Volume 30 (2012), p. 217-226 (bib) |
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L. Schwarz, D. Mateus, N. Navab
Recognizing Multiple Human Activities and Tracking Full-Body Pose in Unconstrained Environments Pattern Recognition, Volume 45 (2012), p. 11-23 (bib) |
| 2011 | |
| J. Bohren, R. B. Rusu, E. G. Jones, E. Marder-Eppstein, C. Pantofaru, M. Wise, L. Mösenlechner, W. Meeussen, S. Holzer
Towards Autonomous Robotic Butlers: Lessons Learned with the PR2 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011. (bib) |
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S. Hinterstoisser, S. Holzer, C. Cagniart, S. Ilic, K. Konolige, N. Navab, V. Lepetit
Multimodal Templates for Real-Time Detection of Texture-less Objects in Heavily Cluttered Scenes (Oral) IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011. (bib) |
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D. Zikic, M. Baust, A. Kamen, N. Navab
A General Preconditioning Scheme for Difference Measures in Deformable Registration IEEE International Conference on Computer Vision (ICCV) in Barcelona, Spain, November 06-13 2011. (bib) |
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V. Castaneda, D. Mateus, N. Navab
Stereo Time-of-Flight IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain, November 2011. (bib) |
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S. Hinterstoisser, V. Lepetit, S. Benhimane, P. Fua, N. Navab
Learning Real-Time Perspective Patch Rectification International Journal of Computer Vision (IJCV), Springer Verlag, The final publication is available at www.springerlink.com (bib) |
| M. Baust, N. Navab
A Fully Implicit Framework for Sobolev Active Contours and Surfaces 33rd Annual Symposium of the German Association for Pattern Recognition, Frankfurt am Main, Germany, August 30th - September 2nd 2011 (bib) |
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| M. Baust, A. Yezzi, G. Unal, N. Navab
A Sobolev-type Metric for Polar Active Contours IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Colorado Springs, USA, June 20-25 2011. (bib) |
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B. Diotte, C. Cagniart, S. Ilic
Markerless Motion Capture in the Operating Room. Technical Report, Technische Universität München, München, Germany, Mai 2011 (bib) |
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L. Schwarz, A. Mkhitaryan, D. Mateus, N. Navab
Estimating Human 3D Pose from Time-of-Flight Images Based on Geodesic Distances and Optical Flow IEEE Conference on Automatic Face and Gesture Recognition (FG), Santa Barbara, USA, March 2011 (bib) |
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P. Schroeder, A. Bartoli, P. Georgel, N. Navab
Closed-Form Solutions to Multiple-View Homography Estimation IEEE Workshop on Motion and Video Computing (WMVC), Kona, HI, USA, January 2011 (bib) |
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L. Schwarz, D. Mateus, J. Lallemand, N. Navab
Tracking Planes with Time of Flight Cameras and J-linkage IEEE Workshop on Motion and Video Computing, Winter Vision Meetings, Hawaii, January 2011 (bib) |
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V. Castaneda, D. Mateus, N. Navab
SLAM combining ToF? and High-Resolution cameras IEEE Workshop on Motion and Video Computing, Winter Vision Meetings, Hawaii, January 2011 (bib) |
| 2010 | |
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B. Glocker, H. Heibel, N. Navab, P. Kohli, C. Rother
TriangleFlow: Optical Flow with Triangulation-based Higher-Order Likelihoods 11th European Conference on Computer Vision (ECCV), Crete, Greece, September 5-11 2010. (bib) |
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C. Cagniart, E. Boyer, S. Ilic
Probabilistic Deformable Surface Tracking From Multiple Videos 11th European Conference on Computer Vision (ECCV), Crete, Greece, September 2010. (bib) |
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A. Ladikos, E. Boyer, N. Navab, S. Ilic
Region Graphs for Organizing Image Collections ECCV Workshop on Reconstruction and Modeling of Large-Scale 3D Virtual Environments Workshop, September 2010 , Crete, Greece. (bib) |
| A. Ladikos, C. Cagniart, R. Gothbi, M. Reiser, N. Navab
Estimating Radiation Exposure in Interventional Environments Medical Image Computing and Computer-Assisted Intervention (MICCAI), September 2010 , Beijing, China. (bib) |
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S. Holzer, S. Ilic, N. Navab
Adaptive Linear Predictors for Real-Time Tracking IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib) |
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N. Alt, S. Hinterstoisser, N. Navab
Rapid Selection of Reliable Templates for Visual Tracking IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib) |
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S. Hinterstoisser, V. Lepetit, S. Ilic, P. Fua, N. Navab
Dominant Orientation Templates for Real-Time Detection of Texture-Less Objects IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib) |
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C. Cagniart, E. Boyer, S. Ilic
Free-From Mesh Tracking : a Patch-Based Approach IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, California (USA), June 2010. (bib) |
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C. Cagniart, E. Boyer, S. Ilic
Iterative Deformable Surface Tracking in Multi-View Setups ( Oral Presentation ) 5th International Symposium 3D Data Processing, Visualization and Transmission (3DPVT), May 17-20 2010, Paris France (bib) |
| M. Baust, N. Navab
A Spherical Harmonics Shape Model for Level Set Segmentation 11th European Conference on Computer Vision (ECCV), Crete, Greece, September 5-11 2010. (bib) |
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L. Schwarz, D. Mateus, V. Castaneda, N. Navab
Manifold Learning for ToF-based Human Body Tracking and Activity Recognition British Machine Vision Conference (BMVC), Aberystwyth, United Kingdom, August 2010 (bib) |
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L. Schwarz, D. Mateus, N. Navab
Multiple-Activity Human Body Tracking in Unconstrained Environments Articulated Motion and Deformable Objects, VI International Conference, Port d'Andratx, Mallorca, Spain, July 2010 (bib) |
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L. Schwarz, D. Mateus, J. Remi, S. Noachtar, N. Navab
Ambulatory Human Motion Analysis Using a Portable Full-body Tracking System Wearable Micro and Nano Technologies for Personalized Health, 7th International Conference, Berlin, Germany, May 2010 (bib) |
| 2009 | |
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S. Hinterstoisser, O. Kutter, N. Navab, P. Fua, V. Lepetit
Real-Time Learning of Accurate Patch Rectification (Oral Presentation) IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Miami, Florida (USA), June 2009. (bib) |
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P. Georgel, A. Bartoli, N. Navab
Simultaneous In-Plane Motion Estimation and Point Matching Using Geometric Cues Only IEEE Workshop on Motion and Video Computing (WMVC), Snowbird, Utah, USA, December 7-10 2009 (bib) |
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P. Georgel, S. Benhimane, J. Sotke, N. Navab
Recovering the Full Pose from a Single Keyframe IEEE Workshop on Applications of Computer Vision (WACV) , Snowbird, Utah, USA, December 7-8 2009 (bib) |
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L. Schwarz, D. Mateus, N. Navab
Discriminative Human Full-Body Pose Estimation from Wearable Inertial Sensor Data 3D Physiological Human (3DPH), 2nd International Workshop, Zermatt, Switzerland, November 2009 (bib) |
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P. Georgel, P. Schroeder, N. Navab
Navigation Tools for Augmented CAD Viewing IEEE Computer Graphic and Application (CGA), special issue on 3D User Interfaces (bib) |
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P. Georgel, S. Benhimane, J. Sotke, N. Navab
Photo-based Industrial Augmented Reality Application Using a Single Keyframe Registration Procedure The 8th IEEE and ACM International Symposium on Mixed and Augmented Reality, Orlando, US, Oct. 19 - 22, 2009 (bib) |
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C. Cagniart, E. Boyer, S. Ilic
Iterative Mesh Deformation for Dense Surface Tracking The 2009 IEEE International Workshop on 3-D Digital Imaging and Modeling, October 3-4, 2009, Kyoto, Japan (bib) |
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B. Zeisl, P. Georgel, F. Schweiger, E. Steinbach, N. Navab
Estimation of Location Uncertainty for Scale Invariant Feature Points British Machine Vision Conference (BMVC), London (UK), September 7-10, 2009 (bib) |
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C. Unger, S. Benhimane, E. Wahl, N. Navab
Efficient Disparity Computation without Maximum Disparity for Real-Time Stereo Vision British Machine Vision Conference (BMVC), London (UK), September 7-10, 2009 (bib) |
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A. Bigdelou, A. Ladikos, N. Navab
Incremental Visual Hull Reconstruction British Machine Vision Conference (BMVC), London (UK), September 7-10, 2009 (bib) |
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F. Brunet, A. Bartoli, N. Navab, R. Malgouyres
NURBS Warps British Machine Vision Conference (BMVC), London (UK), September 7-10, 2009 (bib) |
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S. Holzer, S. Hinterstoisser, S. Ilic, N. Navab
Distance Transform Templates for Object Detection and Pose Estimation IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Miami, Florida (USA), June 2009. (bib) |
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F. Brunet, A. Bartoli, J. Peyras, N. Navab, R. Malgouyres
Découverte automatique de la région d'intérêt en recalage d'images direct Actes du onzième congrès francophone des jeunes chercheurs en vision par ordinateur, Trégastel, Juin 2009 (bib) |
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F. Brunet, A. Bartoli, N. Navab, R. Malgouyres
Ajustement automatique de surfaces paramétriques sur données de profondeur en présence d'un bruit hétérogène Compression et Représentation des Signaux Audiovisuels, Toulouse, Mars 2009 (bib) |
| 2008 | |
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P. Georgel, P. Schroeder, S. Benhimane, M. Appel, N. Navab
How to Augment the Second Image? Recovery of the Translation Scale in Image to Image Registration The 7th IEEE and ACM International Symposium on Mixed and Augmented Reality, Cambridge, UK, Sept. 15 - 18, 2008. (bib) |
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S. Hinterstoisser, S. Benhimane, V. Lepetit, P. Fua, N. Navab
Simultaneous Recognition and Homography Extraction of Local Patches with a Simple Linear Classifier British Machine Vision Conference (BMVC), Leeds (UK), September 1-4, 2008 (bib) |
| A. Ladikos, S. Benhimane, N. Navab
High Performance Model-Based Object Detection and Tracking Computer Vision and Computer Graphics. Theory and Applications, Communications in Computer and Information Science, Vol. 21, Springer, 2008 (bib) |
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A. Ladikos, S. Benhimane, N. Navab
Multi-View Reconstruction using Narrow-Band Graph-Cuts and Surface Normal Optimization British Machine Vision Conference (BMVC), Leeds (UK), September 1-4, 2008 (bib) |
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P. Georgel, S. Benhimane, N. Navab
A Unified Approach Combining Photometric and Geometric Information for Pose Estimation British Machine Vision Conference (BMVC), Leeds (UK), September 1-4, 2008 (bib) |
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A. Ladikos, S. Benhimane, N. Navab
Real-time 3D Reconstruction for Collision Avoidance in Interventional Environments Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2008, New York, USA, September 6-10 2008 (bib) |
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A. Bigdelou, A. Ladikos, N. Navab
Shape from Silhouette in Dynamic Scenes Technical Report at Technical University of Munich (TUM), Munich (DE), August 15, 2008 (bib) |
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A. Ladikos, S. Benhimane, N. Navab
Efficient Visual Hull Computation for Real-Time 3D Reconstruction using CUDA IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Anchorage, Alaska (USA), June 2008. Workshop on Visual Computer Vision on GPUs (CVGPU) (bib) |
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S. Hinterstoisser, S. Benhimane, N. Navab, P. Fua, V. Lepetit
Online Learning of Patch Perspective Rectification for Efficient Object Detection IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Anchorage, Alaska (USA), June 2008. (bib) |
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R. Malgouyres, F. Brunet, S. Fourey
Binomial Convolutions and Derivatives Estimation from Noisy Discretizations 14th IAPR International Conference on Discrete Geometry for Computer Imagery, Lyon, Avril 2008 (bib) |
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F. Brunet, A. Bartoli, R. Malgouyres, N. Navab
Reconstruction de surface par validation croisée Actes des journées de recherche opérationnelle et d'aide à la décision, Clermont-Ferrand, France, Février 2008 (bib) |
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A. Ladikos, S. Benhimane, M. Appel, N. Navab
Model-Free Markerless Tracking for Remote Support in Unknown Environments International Conference on Computer Vision Theory and Applications, Funchal, Portugal, January 2008. (bib) |
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S. Benhimane, H. Najafi, M. Grundmann , E. Malis, Y. Genc, N. Navab
Real-time object detection and tracking for industrial applications International Conference on Computer Vision Theory and Applications, Funchal, Portugal, January 2008. (bib) |
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A. Zaharescu, C. Cagniart, S. Ilic, E. Boyer, R. Horaud
Camera Clustering for Multi-Resolution 3-D Surface Reconstruction ECCV 2008 Workshop on Multi Camera and Multi-modal Sensor Fusion Algorithms and Applications - 2008 (bib) |
| 2007 | |
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S. Hinterstoisser, S. Benhimane, N. Navab
N3M: Natural 3D Markers for Real-Time Object Detection and Pose Estimation IEEE International Conference on Computer Vision, Rio de Janeiro, Brazil, October 14-20, 2007 (bib) |
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F. Brunet, R. Malgouyres, S. Fourey
Convolutions binomiales et dérivation de fonctions discrètes bruitées Journées Informatique et Géométrie, Sophia-Antipolis, France, Juillet 2007 (bib) |
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S. Benhimane, E. Malis
Homography-based 2D Visual Tracking and Servoing Special Joint Issue IJCV/IJRR on Robot and Vision. Published in The International Journal of Robotics Research, Volume 26, No. 7, 661-676, July 2007. (bib) |
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S. Benhimane, A. Ladikos, V. Lepetit, N. Navab
Linear and Quadratic Subsets for Template-Based Tracking IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Minneapolis, Minnesota, June 2007 (bib) |
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A. Ladikos, S. Benhimane, N. Navab
A Real-Time Tracking System Combining Template-Based and Feature-Based Approaches International Conference on Computer Vision Theory and Applications, Barcelona, Spain, March 2007. (bib) |
| 2006 | |
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S. Benhimane
Vers une approche unifiee pour le suivi temps-reel et l’asservissement visuel PhD Thesis - These de doctorat a l'Ecole Nationale Superieure des Mines de Paris, December 2006 (bib) |
| S. Benhimane, E. Malis
Integration of Euclidean constraints in template-based visual tracking of piecewise-planar scenes IEEE/RSJ International Conference on Intelligent Robots Systems, Beijing, China, October 2006. (bib) |
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| C. Mei, S. Benhimane, E. Malis, P. Rives
Homography-based Tracking for Central Catadioptric Cameras IEEE/RSJ International Conference on Intelligent Robots Systems, Beijing, China, October 2006. (bib) |
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| C. Mei, S. Benhimane, E. Malis, P. Rives
Constrained Multiple Planar Template Tracking for Central Catadioptric Cameras British Machine Vision Conference, Edinburgh, UK, September 2006. (bib) |
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| S. Benhimane, E. Malis
A new approach to vision-based robot control with omni-directional cameras IEEE International Conference on Robotics and Automation, Orlando, USA, May 2006. (bib) |
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S. Benhimane, E. Malis
Homography-based 2D Visual Servoing IEEE International Conference on Robotics and Automation, Orlando, USA, May 2006. (bib) |
| S. Benhimane, E. Malis
Une approche directe pour l'asservissement visuel 2D 15eme Congres Francophone AFRIF-AFIA de Reconnaissance des Formes et Intelligence Artificielle, Tours, France, January 2006. (bib) |
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| 2005 | |
| E. Malis, S. Benhimane
A unified approach to visual tracking and servoing. Robotics and Autonomous Systems, Volume 52, Issue 1, Pages 39-52, 31 July 2005. (bib) |
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| S. Benhimane, E. Malis, P. Rives, J. R. Azinheira
Vision-based Control for Car Platooning using Homography Decomposition IEEE International Conference on Robotics and Automation, pp. 2173-2178, Barcelona, Spain, April 2005. (bib) |
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| 2004 | |
| E. Malis, S. Benhimane
A unified framework for real-time visual tracking and servoing IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, October 2004. Workshop WWF4 Advances in Robot Vision - From Domestic Environments to Medical Applications. (bib) |
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| S. Benhimane, E. Malis
Self-calibration of the distortion of a zooming camera by matching points at different resolutions IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 2307-2312, Sendai, Japan, October 2004. (bib) |
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S. Benhimane, E. Malis
Real-time image-based tracking of planes using Efficient Second-order Minimization IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 943-948, Sendai, Japan, October 2004. (bib) |
| S. Benhimane, E. Malis
Mise en correspondance d'images a differentes resolutions a l'aide d'invariants aux parametres intrinseques 14eme Congres Francophone AFRIF-AFIA de Reconnaissance des Formes et Intelligence Artificielle, Toulouse, France, January 2004. (bib) |
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| 2003 | |
| S. Benhimane, E. Malis
Vision-based control with respect to planar and non-planar objects using a zooming camera IEEE International Conference on Advanced Robotics, vol. 2, pp. 991-996, Coimbra, Portugal, July 2003. (bib) |
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Team
Contact Person(s)
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Working Group
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Alumni
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Location
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Technische Universität München Institut für Informatik / I16 Boltzmannstr. 3 85748 Garching bei München Tel.: +49 89 289-17058 Fax: +49 89 289-17059 |
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internal project page
Please contact Selim Benhimane for available student projects within this research project.
