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The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…
Deep convolutional neural networks (CNNs) are state-of-the-art for semantic image segmentation, but typically require many labeled training samples. Obtaining 3D segmentations of medical images for supervised training is difficult and labor…
Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…
Recent supervised multi-view depth estimation networks have achieved promising results. Similar to all supervised approaches, these networks require ground-truth data during training. However, collecting a large amount of multi-view depth…
Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Accurate spatial understanding is essential for image-guided surgery, augmented reality integration and context awareness. In minimally invasive procedures, where visual input is the sole intraoperative modality, establishing precise…
Deep-learning metrics have recently demonstrated extremely good performance to match image patches for stereo reconstruction. However, training such metrics requires large amount of labeled stereo images, which can be difficult or costly to…
As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…
Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…
Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…
In this work we present a self-supervised learning framework to simultaneously train two Convolutional Neural Networks (CNNs) to predict depth and surface normals from a single image. In contrast to most existing frameworks which represent…
Depth Estimation plays a crucial role in recent applications in robotics, autonomous vehicles, and augmented reality. These scenarios commonly operate under constraints imposed by computational power. Stereo image pairs offer an effective…
Intra-operative automatic semantic segmentation of knee joint structures can assist surgeons during knee arthroscopy in terms of situational awareness. However, due to poor imaging conditions (e.g., low texture, overexposure, etc.),…
Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…
Scene understanding is paramount in robotics, self-navigation, augmented reality, and many other fields. To fully accomplish this task, an autonomous agent has to infer the 3D structure of the sensed scene (to know where it looks at) and…