Related papers: An Adaptive Framework for Missing Depth Inference …

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

In this paper we propose a method for estimating depth from a single image using a coarse to fine approach. We argue that modeling the fine depth details is easier after a coarse depth map has been computed. We express a global (coarse)…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

The availability of affordable 3D full body reconstruction systems has given rise to free-viewpoint video (FVV) of human shapes. Most existing solutions produce temporally uncorrelated point clouds or meshes with unknown point/vertex…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

In the classical bilateral filter, a fixed Gaussian range kernel is used along with a spatial kernel for edge-preserving smoothing. We consider a generalization of this filter, the so-called adaptive bilateral filter, where the center and…

We propose HYBRIDDEPTH, a robust depth estimation pipeline that addresses key challenges in depth estimation,including scale ambiguity, hardware heterogeneity, and generalizability. HYBRIDDEPTH leverages focal stack, data conveniently…

Conventional 3D object detection approaches concentrate on bounding boxes representation learning with several parameters, i.e., localization, dimension, and orientation. Despite its popularity and universality, such a straightforward…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Lensless cameras provide a framework to build thin imaging systems by replacing the lens in a conventional camera with an amplitude or phase mask near the sensor. Existing methods for lensless imaging can recover the depth and intensity of…

Empowered by deep learning, recent methods for material capture can estimate a spatially-varying reflectance from a single photograph. Such lightweight capture is in stark contrast with the tens or hundreds of pictures required by…

We present an adaptive sampling approach to 3D reconstruction of the welding joint using the point cloud that is generated by a laser sensor. We start with a randomized strategy to approximate the surface of the volume of interest through…

Despite the success of deep functional maps in non-rigid 3D shape matching, there exists no learning framework that models both self-symmetry and shape matching simultaneously. This is despite the fact that errors due to symmetry mismatch…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…

We introduce a novel learning-based method to reconstruct the high-quality geometry and complex, spatially-varying BRDF of an arbitrary object from a sparse set of only six images captured by wide-baseline cameras under collocated point…

Many real-world applications require the estimation of human body joints for higher-level tasks as, for example, human behaviour understanding. In recent years, depth sensors have become a popular approach to obtain three-dimensional…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…