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Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…

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…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

Inferring the 3D geometry and the semantic meaning of surfaces, which are occluded, is a very challenging task. Recently, a first end-to-end learning approach has been proposed that completes a scene from a single depth image. The approach…

In this paper, we propose a new progressive pre-training method for image understanding tasks which leverages RGB-D datasets. The method utilizes Multi-Modal Contrastive Masked Autoencoder and Denoising techniques. Our proposed approach…

In this paper, we introduce a novel approach that harnesses both 2D and 3D attentions to enable highly accurate depth completion without requiring iterative spatial propagations. Specifically, we first enhance a baseline convolutional depth…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Transparent and reflective objects in everyday environments pose significant challenges for depth sensors due to their unique visual properties, such as specular reflections and light transmission. These characteristics often lead to…

Most deep learning based image inpainting approaches adopt autoencoder or its variants to fill missing regions in images. Encoders are usually utilized to learn powerful representational spaces, which are important for dealing with…

Depth completion is crucial for many robotic tasks such as autonomous driving, 3-D reconstruction, and manipulation. Despite the significant progress, existing methods remain computationally intensive and often fail to meet the real-time…

Raw depth images captured in indoor scenarios frequently exhibit extensive missing values due to the inherent limitations of the sensors and environments. For example, transparent materials frequently elude detection by depth sensors;…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

We propose a novel approach for 3D shape completion by synthesizing multi-view depth maps. While previous work for shape completion relies on volumetric representations, meshes, or point clouds, we propose to use multi-view depth maps from…

Three-dimensional imaging plays an important role in imaging applications where it is necessary to record depth. The number of applications that use depth imaging is increasing rapidly, and examples include self-driving autonomous vehicles…

Accurate depth estimation from images is a fundamental task in many applications including scene understanding and reconstruction. Existing solutions for depth estimation often produce blurry approximations of low resolution. This paper…

Depth perception of transparent and reflective objects has long been a critical challenge in robotic manipulation.Conventional depth sensors often fail to provide reliable measurements on such surfaces, limiting the performance of robots in…

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…

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…

The sensing and manipulation of transparent objects present a critical challenge in industrial and laboratory robotics. Conventional sensors face challenges in obtaining the full depth of transparent objects due to the refraction and…