Per-point uncertainty models are important in structured-light 3D reconstruction for probabilistic registration, fusion, and quality assessment. In practice, however, point-cloud covariances are often modeled as isotropic constants or inferred from local surface geometry and therefore do not explicitly reflect the measurement process.
LiDAR-based Scene Coordinate Regression (SCR) maps point clouds directly to 3D scene coordinates, enabling precise 6-DoF localisation without explicit map retrieval. However, existing methods produce deterministic predictions, discarding aleatoric uncertainty that could improve robustness and downstream decision-making.
arXiv:2602. 19349v2 Announce Type: replace-cross Abstract: LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode.
arXiv:2609.25375v1 Announce Type: cross Abstract: Global point-cloud registration remains challenging when limited overlap, repetitive geometry, and sensor noise produce correspondence sets dominated...
The paper introduces a fast Bayesian method for estimating homographies from noisy point correspondences, providing a posterior distribution over the homography parameters. A closed‑form solution for the posterior mean in homogeneous coordinates is derived, complemented by an iterative Bayesian approach to address non‑linearities. Experiments on synthetic data and real image stitching show improved accuracy over DLT and supply uncertainty estimates for the homography.
The paper presents a method for accurately measuring 3D and 2D circular centers, a key geometric sensing problem for instruments like cameras and LiDARs. It integrates a conformal‑geometric‑algebra estimator with RANSAC to jointly recover the 3D center, normal, and radius from noisy LiDAR points, and uses a chord‑length‑variance criterion to estimate the 2D projected center, resolving ambiguity with homography validation or a quasi‑RANSAC fallback. Experiments on synthetic and real sensors demonstrate improved center measurement accuracy and reduced extrinsic calibration error across various target and sensor setups.
arXiv:2610.08213v1 Announce Type: new Abstract: Fringe Projection Profilometry (FPP) requires precise system characterisation to achieve reliable three-dimensional (3D) reconstructions; however, char...
The paper presents a close‑range photogrammetry workflow using Structure‑from‑Motion and Multi‑View Stereo to generate high‑resolution 3D point clouds of rubberised concrete. By capturing images with a Canon DSLR and an iPhone 16, the authors achieved sub‑millimetre reconstruction accuracy, outperforming traditional LiDAR for fine‑scale defect analysis. An RGB‑guided crack extraction method and deformation analysis further demonstrate the method’s utility for detailed surface monitoring and material performance evaluation.
arXiv:2609.25746v1 Announce Type: cross Abstract: ICP-based 3D Gaussian Splatting (3DGS) SLAM tracks in real time by registering incoming frames against map Gaussians, using each primitive's covarian...
We study relative position encoding for multi-view vision Transformers under camera heterogeneity, including varying fields of view (FoVs) or projection models. Existing rotary relative position encod...
arXiv:2606. 17093v1 Announce Type: new Abstract: Learning-based single-shot fringe projection profilometry (FPP) has been studied mostly at close range.
The paper introduces G-ray, a ray-level relative position encoding for multi-view vision Transformers that remains consistent across different camera projections. By parameterizing rotary phases with camera-local ray angles, G-ray achieves projection-invariant positional consistency and can be integrated with existing encodings without extra learned parameters. Experiments on 3D reconstruction and novel-view synthesis benchmarks show that G-ray improves performance, notably reducing mean pointmap relative error by 45.8% over MapAnything.
arXiv:2609.13691v1 Announce Type: new Abstract: Most existing visual odometry (VO) systems treat feature correspondences as deterministic measurements or assign uniform uncertainty, ignoring the inhe...