哪里是尽头？--通过对象相交约束推理隐藏曲面
Where Does It End? -- Reasoning About Hidden Surfaces by Object Intersection Constraints
摘要：
动态场景理解是机器人和VR/AR中的基本能力。在本文中，我们提出了共同部分，一个基于优化的方法来重建三维动态场景，推断隐藏的形状信息的相交约束。对象级动态SLAM前端检测、分割、跟踪和映射场景中的动态对象。我们的优化后端使用对象之间的外壳和相交约束来完成形状。在实验中，我们展示了我们的方法在真实和合成的动态场景数据集。我们还定量评估了我们的方法的形状完成性能。据我们所知，我们的方法是第一种方法，将这样的物理可扩展性约束的对象相交的形状完成的动态对象的能量最小化框架。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
