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Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…

Depth estimation from monocular images is a challenging problem in computer vision. In this paper, we tackle this problem using a novel network architecture using multi scale feature fusion. Our network uses two different blocks, first…

Recent camera-based 3D semantic scene completion (SSC) methods have increasingly explored leveraging temporal cues to enrich the features of the current frame. However, while these approaches primarily focus on enhancing in-frame regions,…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…

Depth estimation has been widely studied and serves as the fundamental step of 3D perception for robotics and autonomous driving. Though significant progress has been made in monocular depth estimation in the past decades, these attempts…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…

Monocular depth estimation (MDE) has widely applicable but remains highly challenging due to the inherently ill-posed nature of reconstructing 3D scenes from single 2D images. Modern Vision Foundation Models (VFMs), pre-trained on…

With the frequent use of self-supervised monocular depth estimation in robotics and autonomous driving, the model's efficiency is becoming increasingly important. Most current approaches apply much larger and more complex networks to…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

Monocular 3D object detection has long been a challenging task in autonomous driving. Most existing methods follow conventional 2D detectors to first localize object centers, and then predict 3D attributes by neighboring features. However,…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Monocular scene flow estimation aims to recover dense 3D motion from image sequences, yet most existing methods are limited to two-frame inputs, restricting temporal modeling and robustness to occlusions. We propose RAFT-MSF++, a…

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…

A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

Multimodal emotion recognition (MER) aims to infer human affect by jointly modeling audio and visual cues; however, existing approaches often struggle with temporal misalignment, weakly discriminative feature representations, and suboptimal…