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The dynamic mode decomposition (DMD) is a data-driven approach that extracts the dominant features from spatiotemporal data. In this work, we introduce sparse-mode DMD, a new variant of the optimized DMD framework that specifically…

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the…

Array synthetic aperture radar (Array-SAR), also known as tomographic SAR (TomoSAR), has demonstrated significant potential for high-quality 3D mapping, particularly in urban areas.While deep learning (DL) methods have recently shown…

Depth completion, which aims to generate high-quality dense depth maps from sparse depth maps, has attracted increasing attention in recent years. Previous work usually employs RGB images as guidance, and introduces iterative spatial…

We present Dense-SfM, a novel Structure from Motion (SfM) framework designed for dense and accurate 3D reconstruction from multi-view images. Sparse keypoint matching, which traditional SfM methods often rely on, limits both accuracy and…

Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

We consider the case in which a robot has to navigate in an unknown environment but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D lidar) and thus can only acquire a few (point-wise) depth…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

In this paper, we propose a dense monocular SLAM system, named DeepRelativeFusion, that is capable to recover a globally consistent 3D structure. To this end, we use a visual SLAM algorithm to reliably recover the camera poses and…

Underwater image enhancement has become an attractive topic as a significant technology in marine engineering and aquatic robotics. However, the limited number of datasets and imperfect hand-crafted ground truth weaken its robustness to…

In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…

Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…

Depth completion, aiming to predict dense depth maps from sparse depth measurements, plays a crucial role in many computer vision related applications. Deep learning approaches have demonstrated overwhelming success in this task. However,…

Limited by the cost and technology, the resolution of depth map collected by depth camera is often lower than that of its associated RGB camera. Although there have been many researches on RGB image super-resolution (SR), a major problem…

Since medical image data sets contain few samples and singular features, lesions are viewed as highly similar to other tissues. The traditional neural network has a limited ability to learn features. Even if a host of feature maps is…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…

Self-supervised monocular depth estimation has achieved impressive performance on outdoor datasets. Its performance however degrades notably in indoor environments because of the lack of textures. Without rich textures, the photometric…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…