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Single-view depth estimation (SVDE) plays a crucial role in scene understanding for AR applications, 3D modeling, and robotics, providing the geometry of a scene based on a single image. Recent works have shown that a successful solution…
We introduce a new approach for robotic manipulation tasks in human settings that necessitates understanding the 3D geometric connections between a pair of objects. Conventional end-to-end training approaches, which convert pixel…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
Urban scene reconstruction requires modeling both static infrastructure and dynamic elements while supporting diverse environmental conditions. We present \textbf{StyledStreets}, a multi-style street simulator that achieves…
Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…
We propose a novel architecture for depth estimation from a single image. The architecture itself is based on the popular encoder-decoder architecture that is frequently used as a starting point for all dense regression tasks. We build on…
Recent progress in zero-shot 6D object pose estimation has been driven largely by large-scale models and cloud-based inference. However, these approaches often introduce high latency, elevated energy consumption, and deployment risks…
Preliminary mission design requires an efficient and accurate approximation to the low-thrust rendezvous trajectories, which might be generally three-dimensional and involve multiple revolutions. In this paper, a new shaping method using…
We propose a data-driven learned sky model, which we use for outdoor lighting estimation from a single image. As no large-scale dataset of images and their corresponding ground truth illumination is readily available, we use complementary…
We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…
We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique…
Significant progress has been made in photo-realistic scene reconstruction over recent years. Various disparate efforts have enabled capabilities such as multi-appearance or large-scale modeling; however, there lacks a welldesigned dataset…
The field of deep visual recognition is undergoing a paradigm shift toward universal representations. The Platonic Representation Hypothesis suggests that diverse architectures trained on massive datasets are converging toward a shared,…
Pano3D is a new benchmark for depth estimation from spherical panoramas. It aims to assess performance across all depth estimation traits, the primary direct depth estimation performance targeting precision and accuracy, and also the…
Recent microscopy imaging techniques allow to precisely analyze cell morphology in 3D image data. To process the vast amount of image data generated by current digitized imaging techniques, automated approaches are demanded more than ever.…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
In this paper, we present PanoDreamer, a novel method for producing a coherent 360{\deg} 3D scene from a single input image. Unlike existing methods that generate the scene sequentially, we frame the problem as single-image panorama and…
Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…
Due to the rapid development of panorama cameras, the task of estimating panorama depth has attracted significant attention from the computer vision community, especially in applications such as robot sensing and autonomous driving.…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…