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We introduce the concept of unconstrained real-time 3D facial performance capture through explicit semantic segmentation in the RGB input. To ensure robustness, cutting edge supervised learning approaches rely on large training datasets of…

Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…

Multi-focus image fusion is a technique for obtaining an all-in-focus image in which all objects are in focus to extend the limited depth of field (DoF) of an imaging system. Different from traditional RGB-based methods, this paper presents…

Due to the optical properties, transparent objects often lead depth cameras to generate incomplete or invalid depth data, which in turn reduces the accuracy and reliability of robotic grasping. Existing approaches typically input the RGB-D…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

While recent depth foundation models exhibit strong zero-shot generalization, achieving accurate metric depth across diverse camera types-particularly those with large fields of view (FoV) such as fisheye and 360-degree cameras-remains a…

The introduction of consumer RGB-D scanners set off a major boost in 3D computer vision research. Yet, the precision of existing depth scanners is not accurate enough to recover fine details of a scanned object. While modern shading based…

With the rapid advancement of technologies such as virtual reality, augmented reality, and gesture control, users expect interactions with computer interfaces to be more natural and intuitive. Existing visual algorithms often struggle to…

Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera. In this study, we explore the potential of depth sensing…

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…

The goal of this study was to develop new reliable open surgery suturing simulation system for training medical students in situation where resources are limited or in the domestic setup. Namely, we developed an algorithm for tools and…

Mastering the technical skills required to perform surgery is an extremely challenging task. Video-based assessment allows surgeons to receive feedback on their technical skills to facilitate learning and development. Currently, this…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…

Video object segmentation, i.e., the separation of a target object from background in video, has made significant progress on real and challenging videos in recent years. To leverage this progress in 3D applications, this paper addresses…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

Research on depth-based human activity analysis achieved outstanding performance and demonstrated the effectiveness of 3D representation for action recognition. The existing depth-based and RGB+D-based action recognition benchmarks have a…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…