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Zuo (2019) (Z19) addressed the computation of the projection regression depth (PRD) and its induced median (the maximum depth estimator). Z19 achieved the exact computation of PRD via a modified version of regular univariate sample median,…
Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Existing depth estimation methods are fundamentally limited to predicting depth on discrete image grids. Such representations restrict their scalability to arbitrary output resolutions and hinder the geometric detail recovery. This paper…
Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…
In this paper we consider the task of image-guided depth completion where our system must infer the depth at every pixel of an input image based on the image content and a sparse set of depth measurements. We propose a novel approach that…
Depth estimation from a single image is a fundamental problem in computer vision. In this paper, we propose a simple yet effective convolutional spatial propagation network (CSPN) to learn the affinity matrix for depth prediction.…
In recent years, numerous vision and learning tasks have been (re)formulated as nonconvex and nonsmooth programmings(NNPs). Although some algorithms have been proposed for particular problems, designing fast and flexible optimization…
In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…
In this paper, we propose a new algorithm to speed-up the convergence of accelerated proximal gradient (APG) methods. In order to minimize a convex function $f(\mathbf{x})$, our algorithm introduces a simple line search step after each…
Due to the abundance of 2D product images from the Internet, developing efficient and scalable algorithms to recover the missing depth information is central to many applications. Recent works have addressed the single-view depth estimation…
Endoscopic depth estimation is a critical technology for improving the safety and precision of minimally invasive surgery. It has attracted considerable attention from researchers in medical imaging, computer vision, and robotics. Over the…
This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…
Quadratic assignment problems are a fundamental class of combinatorial optimization problems which are ubiquitous in applications, yet their exact resolution is NP-hard. To circumvent this impasse, it was proposed to regularize such…
Estimating the intrinsic dimensionality (ID) of data is a fundamental problem in machine learning and computer vision, providing insight into the true degrees of freedom underlying high-dimensional observations. Existing methods often rely…
Estimating depth from a sequence of posed RGB images is a fundamental computer vision task, with applications in augmented reality, path planning etc. Prior work typically makes use of previous frames in a multi view stereo framework,…
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 introduce a new algorithm for the calculation of multidimensional optical depths in approximate radiative transport schemes, equally applicable to neutrinos and photons. Motivated by (but not limited to) neutrino transport in…
Implicitly described domains are a well established tool in the simulation of time dependent problems, e.g. using level-set methods. In order to solve partial differential equations on such domains, a range of numerical methods was…
Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…