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Home Research Areas Visual SLAM DirectShape: Direct Photometric Alignment of Shape Priors

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research:vslam:direct-shape [2019/10/02 10:14]
Rui Wang
research:vslam:direct-shape [2020/06/16 02:17] (current)
Rui Wang
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 ===== Video ===== ===== Video =====
 <​html><​center><​iframe width="​640"​ height="​360"​ src="​https://​www.youtube.com/​embed/​QqP6zdx5OKw"​ frameborder="​0"​ allowfullscreen></​iframe></​center></​html>​ <​html><​center><​iframe width="​640"​ height="​360"​ src="​https://​www.youtube.com/​embed/​QqP6zdx5OKw"​ frameborder="​0"​ allowfullscreen></​iframe></​center></​html>​
 +
 +===== ICRA Presentation =====
 +<​html><​center><​iframe width="​640"​ height="​360"​ src="​https://​www.youtube.com/​embed/​P_9fJa-PA9M"​ frameborder="​0"​ allowfullscreen></​iframe></​center></​html>​
  
 ===== Download ===== ===== Download =====
-  * Derivation of all the analytical Jacobians and more qualitative results: {{:​research:​vslam:​direct-shape:​DirectShape_supp.pdf|supplementary document}} \\+  * ICRA 2020 paper: {{:​research:​vslam:​direct-shape:​wang2020directshape.pdf|paper}}. ​Derivation of all the analytical Jacobians and more qualitative results ​are provided in: {{:​research:​vslam:​direct-shape:​DirectShape_supp.pdf|supplementary document}}. They are also available on [[https://​arxiv.org/​abs/​1904.10097|arxiv]].\\
   * Validation splits of KITTI Object 3D: {{:​research:​vslam:​direct-shape:​val1.txt|val1.txt}} (used by Mono3D, 3DOP and MLF), {{:​research:​vslam:​direct-shape:​val2.txt|val2.txt}} (used by Deep3DBox).\\   * Validation splits of KITTI Object 3D: {{:​research:​vslam:​direct-shape:​val1.txt|val1.txt}} (used by Mono3D, 3DOP and MLF), {{:​research:​vslam:​direct-shape:​val2.txt|val2.txt}} (used by Deep3DBox).\\
   * 3D pose evaluation results on KITTI Object 3D: tba \\   * 3D pose evaluation results on KITTI Object 3D: tba \\
   * 3D shape evaluation results on KITTI Stereo 2015: tba \\   * 3D shape evaluation results on KITTI Stereo 2015: tba \\
 +  * Please contact [[members:​wangr|Rui Wang]] if you need anything further.
  
 ===== Results ===== ===== Results =====
-  * Shape variation by modifying shape coefficients:​+  * Shape variation by modifying shape coefficients ​with color coded signed distances to the surface:
 <​html><​center><​video class="​media"​ width="​640"​ height="​360"​ autoplay controls="​controls"​ loop> <​html><​center><​video class="​media"​ width="​640"​ height="​360"​ autoplay controls="​controls"​ loop>
 <source src="/​_media/​research/​vslam/​direct-shape/​shape_variation_trim.mp4"​ type="​video/​mp4"​ /></​video></​center></​html>​ <source src="/​_media/​research/​vslam/​direct-shape/​shape_variation_trim.mp4"​ type="​video/​mp4"​ /></​video></​center></​html>​

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