Related papers: DesNet: Decomposed Scale-Consistent Network for Un…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…

Parametric approaches to Learning, such as deep learning (DL), are highly popular in nonlinear regression, in spite of their extremely difficult training with their increasing complexity (e.g. number of layers in DL). In this paper, we…

Recently, stereo vision based on lightweight RGBD cameras has been widely used in various fields. However, limited by the imaging principles, the commonly used RGB-D cameras based on TOF, structured light, or binocular vision acquire some…

Our long term goal is to use image-based depth completion to quickly create 3D models from sparse point clouds, e.g. from SfM or SLAM. Much progress has been made in depth completion. However, most current works assume well distributed…

Complete depth information and efficient estimators have become vital ingredients in scene understanding for automated driving tasks. A major problem for LiDAR-based depth completion is the inefficient utilization of convolutions due to the…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…

Single object tracking in point clouds has been attracting more and more attention owing to the presence of LiDAR sensors in 3D vision. However, the existing methods based on deep neural networks focus mainly on training different models…

Dense matching is crucial for 3D scene reconstruction since it enables the recovery of scene 3D geometry from image acquisition. Deep Learning (DL)-based methods have shown effectiveness in the special case of epipolar stereo disparity…

Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…

Deep neural network based methods are the state of the art in various image restoration problems. Standard supervised learning frameworks require a set of noisy measurement and clean image pairs for which a distance between the output of…

Perceiving the three-dimensional (3D) structure of the spacecraft is a prerequisite for successfully executing many on-orbit space missions, and it can provide critical input for many downstream vision algorithms. In this paper, we propose…

In this paper, we introduce the Selective Image Guided Network (SigNet), a novel degradation-aware framework that transforms depth completion into depth enhancement for the first time. Moving beyond direct completion using convolutional…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Estimating a depth map from a single RGB image has been investigated widely for localization, mapping, and 3-dimensional object detection. Recent studies on a single-view depth estimation are mostly based on deep Convolutional neural…

Semantic-aware 3D reconstruction from sparse, unposed images remains challenging for feed-forward 3D Gaussian Splatting (3DGS). Existing methods often predict an over-complete set of Gaussian primitives under sparse-view supervision,…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Classifiers often learn to be biased corresponding to the class-imbalanced dataset, especially under the semi-supervised learning (SSL) set. While previous work tries to appropriately re-balance the classifiers by subtracting a…

We present a deep learning system to infer the posterior distribution of a dense depth map associated with an image, by exploiting sparse range measurements, for instance from a lidar. While the lidar may provide a depth value for a small…

The main function of depth completion is to compensate for an insufficient and unpredictable number of sparse depth measurements of hardware sensors. However, existing research on depth completion assumes that the sparsity -- the number of…

We present a novel depth completion approach agnostic to the sparsity of depth points, that is very likely to vary in many practical applications. State-of-the-art approaches yield accurate results only when processing a specific density…