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This paper reports a CPU-level real-time stereo matching method for surgical images (10 Hz on 640 * 480 image with a single core of i5-9400). The proposed method is built on the fast ''dense inverse searching'' algorithm, which estimates…

In stereoscope-based Minimally Invasive Surgeries (MIS), dense stereo matching plays an indispensable role in 3D shape recovery, AR, VR, and navigation tasks. Although numerous Deep Neural Network (DNN) approaches are proposed, the…

Learning-based stereo matching has recently achieved promising results, yet still suffers difficulties in establishing reliable matches in weakly matchable regions that are textureless, non-Lambertian, or occluded. In this paper, we address…

Endeavors in indoor robotic navigation rely on the accuracy of segmentation models to identify free space in RGB images. However, deep learning models are vulnerable to adversarial attacks, posing a significant challenge to their real-world…

Recent years have seen an increasing interest in physical adversarial attacks, which aim to craft deployable patterns for deceiving deep neural networks, especially for person detectors. However, the adversarial patterns of existing…

Zero-shot depth estimation (DE) models exhibit strong generalization performance as they are trained on large-scale datasets. However, existing models struggle with high-resolution images due to the discrepancy in image resolutions of…

Deep stereo matching has made significant progress in recent years. However, state-of-the-art methods are based on expensive 4D cost volume, which limits their use in real-world applications. To address this issue, 3D correlation maps and…

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…

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,…

In this paper we address the benefit of adding adversarial training to the task of monocular depth estimation. A model can be trained in a self-supervised setting on stereo pairs of images, where depth (disparities) are an intermediate…

A growing body of work has shown that deep neural networks are susceptible to adversarial examples. These take the form of small perturbations applied to the model's input which lead to incorrect predictions. Unfortunately, most literature…

Adversarial examples have proven to be a concerning threat to deep learning models, particularly in the image domain. However, while many studies have examined adversarial examples in the real world, most of them relied on 2D photos of the…

Deep neural networks (DNNs) have been proven to be vulnerable to adversarial examples. A special branch of adversarial examples, namely sparse adversarial examples, can fool the target DNNs by perturbing only a few pixels. However, many…

Adversarial attacks pose a significant threat to the robustness and reliability of machine learning systems, particularly in computer vision applications. This study investigates the performance of adversarial patches for the YOLO object…

Surround-view perception has garnered significant attention for its ability to enhance the perception capabilities of autonomous driving vehicles through the exchange of information with surrounding cameras. However, existing surround-view…

Real-time Stereo Matching is a cornerstone algorithm for many Extended Reality (XR) applications, such as indoor 3D understanding, video pass-through, and mixed-reality games. Despite significant advancements in deep stereo methods,…

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…

Adversarial patch attacks pose a severe threat to deep neural networks, yet most existing approaches rely on unrealistic white-box assumptions, untargeted objectives, or produce visually conspicuous patches that limit real-world…

Depth perception is a key component for autonomous systems that interact in the real world, such as delivery robots, warehouse robots, and self-driving cars. Tasks in autonomous robotics such as 3D object recognition, simultaneous…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…