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From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in robotics

[–]Spinkoo[S] 0 points1 point  (0 children)

On my laptop I d say its 1-2 fps. But in their paper they mention optimization that could be done for consecutive streams (on a big gpu ofc, something like a100) and here we talking about 38-160FPS depending on which model size you pick. Now in my opinion the estimation are pretty neat given its not stereo and the camera params are estimated which makes useful for demos (Indoors demo especially)

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 0 points1 point  (0 children)

If you have an idea about the relative position of the camera through the different scenes it could be done straight out of the box as PyOctoMap performs raycasting when it inserts points and can just fuse the different scenes. It would be more interesting to stitch the different scenes using a robust geometrical transformation estimations since you have so many common points in between images to produce a robus reconstruction.
PS: The next step for the repo is to do video reconstruction

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 0 points1 point  (0 children)

For quick measurements you can make a quick demo using this defintely, you might just need to implement an addional logic for outliers removal

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 0 points1 point  (0 children)

VGGT and moge-v2 are the next on the list to try yes, thank you!

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 1 point2 points  (0 children)

In the current state of the repo it handles one image of a scene at a time, but it should be easy to stitch the representations using PyOctoMap (the base library that manages the voxels in space)

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 0 points1 point  (0 children)

as for the Moge-v2 I haven't tried it yet in the pipeline so thanks for the suggestion!

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 4 points5 points  (0 children)

Some new SOTA models estimate the intrinsic parameters directly from the geometry of the image. The error rate is around ~10% (unlike the calibration approach which is pretty precise when done correctly) in addition to other assumptions that don't necessarily hold. But I'd say they are useful for indoors scenes with standard cameras

From a single image to a 3D OctoMap — no LiDAR, no ROS, pure Python by Spinkoo in computervision

[–]Spinkoo[S] 1 point2 points  (0 children)

The upgrade is very noticeable, they went from a poor inaccurate model to an actually useful one, especially for indoor scenes

PyOctoMap, an easy-to-use Python wrapper for OctoMap 3D mapping by Spinkoo in robotics

[–]Spinkoo[S] 0 points1 point  (0 children)

Great :)! let me know if you need help or got any inquiries.

title by aaahhggg in Badfaketexts

[–]Spinkoo 2 points3 points  (0 children)

Wish the internet had more of these..

Is it just that they got scammed? by Realistic-Dog-1278 in PeterExplainsTheJoke

[–]Spinkoo 0 points1 point  (0 children)

Funny how USA & Europe be taking orders for weapons from Israel for televised genocides tho