Related papers: FisheyeDepth: A Real Scale Self-Supervised Depth E…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

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…

We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual…

Camera pose estimation in large-scale environments is still an open question and, despite recent promising results, it may still fail in some situations. The research so far has focused on improving subcomponents of estimation pipelines, to…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

Autonomous driving systems require extensive data collection schemes to cover the diverse scenarios needed for building a robust and safe system. The data volumes are in the order of Exabytes and have to be stored for a long period of time…

This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…

A large field-of-view fisheye camera allows for capturing a large area with minimal numbers of cameras when they are mounted on a high position facing downwards. This top-view omnidirectional setup greatly reduces the work and cost for…

Portraits or selfie images taken from a close distance typically suffer from perspective distortion. In this paper, we propose an end-to-end deep learning-based rectification pipeline to mitigate the effects of perspective distortion. We…

Depth estimation is a cornerstone for autonomous driving, yet acquiring per-pixel depth ground truth for supervised learning is challenging. Self-Supervised Surround Depth Estimation (SSSDE) from consecutive images offers an economical…

Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

Fisheye cameras introduce significant distortion and pose unique challenges to object detection models trained on conventional datasets. In this work, we propose a data-centric pipeline that systematically improves detection performance by…

Self-supervised depth estimation from monocular sequences relies on the joint learning of a depth and a pose network. Despite abundant research done to improve the depth network, efforts on the pose remain limited. In this context, even…

Robotic-assistive therapy has demonstrated very encouraging results for children with Autism. Accurate estimation of the child's pose is essential both for human-robot interaction and for therapy assessment purposes. Non-intrusive methods…

Automated Parking is a low speed manoeuvring scenario which is quite unstructured and complex, requiring full 360{\deg} near-field sensing around the vehicle. In this paper, we discuss the design and implementation of an automated parking…

Depth cameras allow to set up reliable solutions for people monitoring and behavior understanding, especially when unstable or poor illumination conditions make unusable common RGB sensors. Therefore, we propose a complete framework for the…

Depth cameras are frequently used in robotic manipulation, e.g. for visual servoing. The quality of small and compact depth cameras is though often not sufficient for depth reconstruction, which is required for precise tracking in and…

Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…