Related papers: RomniStereo: Recurrent Omnidirectional Stereo Matc…
Omnidirectional depth perception is essential for mobile robotics applications that require scene understanding across a full 360{\deg} field of view. Camera-based setups offer a cost-effective option by using stereo depth estimation to…
In this paper, we propose a novel end-to-end deep neural network model for omnidirectional depth estimation from a wide-baseline multi-view stereo setup. The images captured with ultra wide field-of-view (FOV) cameras on an omnidirectional…
Stereo matching on top-bottom equirectangular images provides an effective framework for full-surround perception, as vertically aligned epipolar lines enable the use of advanced perspective stereo architectures that are largely driven by…
Reliable omnidirectional depth estimation from multi-fisheye stereo matching is pivotal to many applications, such as embodied robotics. Existing approaches either rely on spherical sweeping with heuristic fusion strategies to build the…
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of…
Stereo matching is a key technique for metric depth estimation in computer vision and robotics. Real-world challenges like occlusion and non-texture hinder accurate disparity estimation from binocular matching cues. Recently, monocular…
Omnidirectional depth estimation presents a significant challenge due to the inherent distortions in panoramic images. Despite notable advancements, the impact of projection methods remains underexplored. We introduce Multi-Cylindrical…
Real-time acquisition of accurate scene depth is essential for automated robotic minimally invasive surgery. Stereo matching with binocular endoscopy can provide this depth information. However, existing stereo matching methods, designed…
Omnidirectional depth estimation enables efficient 3D perception over a full 360-degree range. However, in real-world applications such as autonomous driving and robotics, achieving real-time performance and robust cross-scene…
Omnidirectional depth sensing has its advantage over the conventional stereo systems since it enables us to recognize the objects of interest in all directions without any blind regions. In this paper, we propose a novel wide-baseline…
Despite progress in stereo depth estimation, omnidirectional imaging remains underexplored, mainly due to the lack of appropriate data. We introduce Helvipad, a real-world dataset for omnidirectional stereo depth estimation, featuring 40K…
Omnidirectional images (ODIs) have obtained lots of research interest for immersive experiences. Although ODIs require extremely high resolution to capture details of the entire scene, the resolutions of most ODIs are insufficient. Previous…
Stereo reconstruction models trained on small images do not generalize well to high-resolution data. Training a model on high-resolution image size faces difficulties of data availability and is often infeasible due to limited computing…
Deep Learning based stereo matching methods have shown great successes and achieved top scores across different benchmarks. However, like most data-driven methods, existing deep stereo matching networks suffer from some well-known drawbacks…
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…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…
Efficient yet accurate extraction of depth from stereo image pairs is required by systems with low power resources, such as robotics and embedded systems. State-of-the-art stereo matching methods based on convolutional neural networks…
Recently, records on stereo matching benchmarks are constantly broken by end-to-end disparity networks. However, the domain adaptation ability of these deep models is quite limited. Addressing such problem, we present a novel…
Dynamic stereo matching is the task of estimating consistent disparities from stereo videos with dynamic objects. Recent learning-based methods prioritize optimal performance on a single stereo pair, resulting in temporal inconsistencies.…