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We introduce a novel approach for depth estimation using images obtained from monocular structured light systems. In contrast to many existing methods that depend on image matching, our technique employs a density voxel grid to represent…

Existing 3D surface representation approaches are unable to accurately classify pixels and their orientation lying on the boundary of an object. Thus resulting in coarse representations which usually require post-processing steps to extract…

Depth completion, aiming to predict dense depth maps from sparse depth measurements, plays a crucial role in many computer vision related applications. Deep learning approaches have demonstrated overwhelming success in this task. However,…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

Blind deconvolution involves the estimation of a sharp signal or image given only a blurry observation. Because this problem is fundamentally ill-posed, strong priors on both the sharp image and blur kernel are required to regularize the…

Learning-based 3D reconstruction methods have shown impressive results. However, most methods require 3D supervision which is often hard to obtain for real-world datasets. Recently, several works have proposed differentiable rendering…

In this work, we propose a novel approach to prioritize the depth map computation of multi-view stereo (MVS) to obtain compact 3D point clouds of high quality and completeness at low computational cost. Our prioritization approach operates…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

We introduce a language-grounded visual prompting method to adapt the visual encoder of vision-language models for downstream tasks. By capitalizing on language integration, we devise a parameter-efficient strategy to adjust the input of…

3D reconstruction of depth and motion from monocular video in dynamic environments is a highly ill-posed problem due to scale ambiguities when projecting to the 2D image domain. In this work, we investigate the performance of the current…

Recent advancements in Vision-Language Models (VLMs) have significantly pushed the boundaries of Visual Question Answering (VQA).However,high-resolution details can sometimes become noise that leads to hallucinations or reasoning errors. In…

There has long been a belief that high-level semantics learning can benefit various downstream computer vision tasks. However, in the low-light image enhancement (LLIE) community, existing methods learn a brutal mapping between low-light…

Self-supervised depth estimation has made a great success in learning depth from unlabeled image sequences. While the mappings between image and pixel-wise depth are well-studied in current methods, the correlation between image, depth and…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

Dual pixels contain disparity cues arising from the defocus blur. This disparity information is useful for many vision tasks ranging from autonomous driving to 3D creative realism. However, directly estimating disparity from dual pixels is…

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

Vision-Language Models (VLMs) can generate convincing clinical narratives, yet frequently struggle to visually ground their statements. We posit this limitation arises from the scarcity of high-quality, large-scale clinical…