Related papers: A Surface Geometry Model for LiDAR Depth Completio…

In this work, we introduce a challenging image restoration task, referred to as SuperInpaint, which aims to reconstruct missing regions in low-resolution images and generate completed images with arbitrarily higher resolutions. We have…

Deep learning based LiDAR odometry (LO) estimation attracts increasing research interests in the field of autonomous driving and robotics. Existing works feed consecutive LiDAR frames into neural networks as point clouds and match pairs in…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

In this study, we propose a high-performance disparity (depth) estimation method using dual-pixel (DP) images with few parameters. Conventional end-to-end deep-learning methods have many parameters but do not fully exploit disparity…

Automated driving systems use multi-modal sensor suites to ensure the reliable, redundant and robust perception of the operating domain, for example camera and LiDAR. An accurate extrinsic calibration is required to fuse the camera and…

The large amount of data collected by LiDAR sensors brings the issue of LiDAR point cloud compression (PCC). Previous works on LiDAR PCC have used range image representations and followed the predictive coding paradigm to create a basic…

Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…

Unsupervised outlier detection, which predicts if a test sample is an outlier or not using only the information from unlabelled inlier data, is an important but challenging task. Recently, methods based on the two-stage framework achieve…

The unsupervised outlier detection (UOD) problem refers to a task to identify inliers given training data which contain outliers as well as inliers, without any labeled information about inliers and outliers. It has been widely recognized…

Surface extraction from implicit neural representations modelling a single class surface is a well-known task. However, there exist no surface extraction methods from an implicit representation of multiple classes that guarantee topological…

Single image surface normal estimation and depth estimation are closely related problems as the former can be calculated from the latter. However, the surface normals computed from the output of depth estimation methods are significantly…

We propose a neural network for unsupervised anomaly detection with a novel robust subspace recovery layer (RSR layer). This layer seeks to extract the underlying subspace from a latent representation of the given data and removes outliers…

This paper presents a LiDAR odometry estimation framework called Generalized LOAM. Our proposed method is generalized in that it can seamlessly fuse various local geometric shapes around points to improve the position estimation accuracy…

Addressing the Out-of-Distribution (OoD) segmentation task is a prerequisite for perception systems operating in an open-world environment. Large foundational models are frequently used in downstream tasks, however, their potential for OoD…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Clustering and outlier detection are two important tasks in data mining. Outliers frequently interfere with clustering algorithms to determine the similarity between objects, resulting in unreliable clustering results. Currently, only a few…

Accurate monocular depth estimation is crucial for 3D scene understanding, but existing methods often blur depth at object boundaries, introducing spurious intermediate 3D points. While achieving sharp edges usually requires very…

Outlier detection and cleaning are essential steps in data preprocessing to ensure the integrity and validity of data analyses. This paper focuses on outlier points within individual trajectories, i.e., points that deviate significantly…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

Surface, image and video data can be considered as functional data with a bivariate domain. To detect outlying surfaces or images, a new method is proposed based on the mean and the variability of the degree of outlyingness at each grid…