Scene Level Tracking And Reconstruction without object prior

Generate the geometry model, tracking the position and deformation for each visible individual objects in the scene without object prior.

More results on challenging scenes (RGB, Model, Segmentation)

Comparison with SurfelWarp (RGB, Ours, SurfelWarp)

Watch the differences between two methods in handling topological change between the mario and the hand.

Interactive demo (Still ongoing)

An interacitve is also provided for better evaluation of our results. Interactive demo

Source Code

For source code, please go to https://github.com/changhaonan/StarHub. Code is only tested on Ubuntu 20.04.

Cite this work

@inproceedings{chang2022scene,
  title={Scene-level Tracking and Reconstruction without Object Priors},
  author={Chang, Haonan and Boularias, Abdeslam},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3785--3792},
  year={2022},
  organization={IEEE}
}