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Seeing-in-the-dark is one of the most important and challenging computer vision tasks due to its wide applications and extreme complexities of in-the-wild scenarios. Existing arts can be mainly divided into two threads: 1) RGB-dependent…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

The current industry practice for 24-hour outdoor imaging is to use a silicon camera supplemented with near-infrared (NIR) illumination. This will result in color images with poor contrast at daytime and absence of chrominance at nighttime.…

Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…

We present a method to estimate dense depth by optimizing a sparse set of points such that their diffusion into a depth map minimizes a multi-view reprojection error from RGB supervision. We optimize point positions, depths, and weights…

Annual luminance maps provide meaningful evaluations for occupants' visual comfort, preferences, and perception. However, acquiring long-term luminance maps require labor-intensive and time-consuming simulations or impracticable long-term…

Spacecraft pose estimation is crucial for autonomous in-space operations, such as rendezvous, docking and on-orbit servicing. Vision-based pose estimation methods, which typically employ RGB imaging sensors, is a compelling solution for…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Capturing images under extremely low-light conditions poses significant challenges for the standard camera pipeline. Images become too dark and too noisy, which makes traditional image enhancement techniques almost impossible to apply. Very…

Event-based structured light systems have recently been introduced as an exciting alternative to conventional frame-based triangulation systems for the 3D measurements of diffuse surfaces. Important benefits include the fast capture speed…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

Humans have the remarkable ability to construct consistent mental models of an environment, even under limited or varying levels of illumination. We wish to endow robots with this same capability. In this paper, we tackle the challenge of…

Video fusion is a process that combines visual data from different sensors to obtain a single composite video preserving the information of the sources. The availability of a system, enhancing human ability to perceive the observed…

Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…

This paper presents a new approach to accurately track a moving vehicle with a multiview setup of red-green-blue depth (RGBD) cameras. We first propose a correction method to eliminate a shift, which occurs in depth sensors when they become…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

A low-light image enhancement is a highly demanded image processing technique, especially for consumer digital cameras and cameras on mobile phones. In this paper, a gradient-based low-light image enhancement algorithm is proposed. The key…

3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…

Real-time global illumination is key to enabling more dynamic and physically realistic worlds in performance-critical applications such as games or any other applications with real-time constraints.Hardware-accelerated ray tracing in modern…

RAW images are unprocessed camera sensor output with sensor-specific RGB values based on the sensor's color filter spectral sensitivities. RAW images also incur strong color casts due to the sensor's response to the spectral properties of…