Related papers: VoxDepth: Rectification of Depth Images on Edge De…

Self-supervised monocular methods can efficiently learn depth information of weakly textured surfaces or reflective objects. However, the depth accuracy is limited due to the inherent ambiguity in monocular geometric modeling. In contrast,…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Can robots mold soft plastic materials by shaping depth images? The short answer is no: current day robots can't. In this article, we address the problem of shaping plastic material with an anthropomorphic arm/hand robot, which observes the…

One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigation to provide rich…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisely with given tasks.…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

Reconstructing 3D objects from a single image is an intriguing but challenging problem. One promising solution is to utilize multi-view (MV) 3D reconstruction to fuse generated MV images into consistent 3D objects. However, the generated…

In this paper we propose an edge-direct visual odometry algorithm that efficiently utilizes edge pixels to find the relative pose that minimizes the photometric error between images. Prior work on exploiting edge pixels instead treats edges…

Accurately distinguishing each object is a fundamental goal of Multi-object tracking (MOT) algorithms. However, achieving this goal still remains challenging, primarily due to: (i) For crowded scenes with occluded objects, the high overlap…

Depth estimation is one of the key technologies for realizing 3D perception in unmanned systems. Monocular depth estimation has been widely researched because of its low-cost advantage, but the existing methods face the challenges of poor…

Estimating the distance to objects is crucial for autonomous vehicles when using depth sensors is not possible. In this case, the distance has to be estimated from on-board mounted RGB cameras, which is a complex task especially in…

Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…

Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…

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…

Depth imaging is vital for many emerging technologies with applications in augmented reality, robotics, gesture detection, and facial recognition. These applications, however, demand compact and low-power systems beyond the capabilities of…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

Video restoration (VR) aims to recover high-quality videos from degraded ones. Although recent zero-shot VR methods using pre-trained diffusion models (DMs) show good promise, they suffer from approximation errors during reverse diffusion…

Stereo depth estimation is a fundamental component in augmented reality (AR), which requires low latency for real-time processing. However, preprocessing such as rectification and non-ML computations such as cost volume require significant…

3D Gaussian Splatting has recently shown promising results in dense visual SLAM. However, existing 3DGS-based SLAM methods are all constrained to small-room scenarios and struggle with memory explosion in large-scale scenes and long…