Bastien Jacquet

Perception4D · Computer Vision

Multi-beam LiDAR sensors are increasingly used in robotics, particularly for autonomous cars for localization and perception tasks. However, perception is closely linked to the localization task and the robot's ability to build a fine map of its environment. For this, we propose a new real-time LiDAR odometry method called CT-ICP, as well as a comp...

With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on deep learning. Yet it is often difficult to compare these methods, notably due to the few datasets on which th...

Mantle convection models with plate-like behavior produce surface structures comparable to Earth's plate boundaries. However, analyzing those structures is a difficult task, since convection models produce, as on Earth, diffuse deformation and elusive plate boundaries. Therefore we present here and share a quantitative tool to identify plate bounda...

We present a novel approach that jointly reconstructs the geometry of a human head and semantically segments it into labels such as skin, hair and eyebrows. In order to get faithful reconstructions from data captured in uncontrolled environments, we propose to adapt a recently introduced implicit volumetric surface normal based shape prior formulat...

We propose a new approach to estimate the geometric extrinsic calibration of all the elements of a smartphone or tablet (such as the screen, the front and the back cameras) by using a planar mirror. By moving a smartphone in front of a single static planar mirror, it is possible to establish correspondences between the images and a pattern displaye...

Depthmap fusion is the problem of computing dense 3D reconstructions from a set of depthmaps. Whereas this problem has received a lot of attention for purely rigid scenes, there is remarkably little prior work for dense reconstructions of scenes consisting of several moving rigid bodies or parts. This paper therefore explores this multi-body depthm...

Although specular objects have gained interest in recent years, virtually no approaches exist for marker less reconstruction of reflective scenes in the wild. In this work, we present a practical approach to capturing normal maps in real-world scenes using video only. We focus on nearly planar surfaces such as windows, facades from glass or metal,...

Articulated objects represent an important class of objects in our everyday environment. Automatic detection of the type of articulated or otherwise restricted motion and extraction of the corresponding motion parameters are therefore of high value, eg in order to augment an otherwise static 3D reconstruction with dynamic semantics, such as rotatio...