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The raw depth image captured by the indoor depth sensor usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and limited distance range. The incomplete…

Convolutional neural networks (CNNs) have recently demonstrated superior quality for computational imaging applications. Therefore, they have great potential to revolutionize the image pipelines on cameras and displays. However, it is…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

During image-guided procedures, real-time image segmentation is often required. This demands lightweight AI models that can operate on resource-constrained devices. One important use case is endoscopy-guided colonoscopy, where polyps must…

Depth estimation from 2D images is a common computer vision task that has applications in many fields including autonomous vehicles, scene understanding and robotics. The accuracy of a supervised depth estimation method mainly relies on the…

Depth sensing is of paramount importance for unmanned aerial and autonomous vehicles. Nonetheless, contemporary monocular depth estimation methods employing complex deep neural networks within Convolutional Neural Networks are inadequately…

We propose a new method to create compact convolutional neural networks (CNNs) by exploiting sparse convolutions. Different from previous works that learn sparsity in models, we directly employ hand-crafted kernels with regular sparse…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

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…

Time cost is a major challenge in achieving high-quality pluralistic image completion. Recently, the Retentive Network (RetNet) in natural language processing offers a novel approach to this problem with its low-cost inference capabilities.…

Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth sensors such as LiDARs are often heavy, expensive and can only…

Our long term goal is to use image-based depth completion to quickly create 3D models from sparse point clouds, e.g. from SfM or SLAM. Much progress has been made in depth completion. However, most current works assume well distributed…

Existing state-of-the-art disparity estimation works mostly leverage the 4D concatenation volume and construct a very deep 3D convolution neural network (CNN) for disparity regression, which is inefficient due to the high memory consumption…

It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…

Given sparse depths and the corresponding RGB images, depth completion aims at spatially propagating the sparse measurements throughout the whole image to get a dense depth prediction. Despite the tremendous progress of deep-learning-based…

LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms. Previous point-based or sparse voxel-based methods are far away from real-time applications since…

Deep neural networks (DNNs) have shown to provide superb performance in many real life applications, but their large computation cost and storage requirement have prevented them from being deployed to many edge and internet-of-things (IoT)…

In this paper, we introduce the Selective Image Guided Network (SigNet), a novel degradation-aware framework that transforms depth completion into depth enhancement for the first time. Moving beyond direct completion using convolutional…

Recently, FCNs have attracted widespread attention in the CD field. In pursuit of better CD performance, it has become a tendency to design deeper and more complicated FCNs, which inevitably brings about huge numbers of parameters and an…

Depth completion is a key task in autonomous driving, aiming to complete sparse LiDAR depth measurements into high-quality dense depth maps through image guidance. However, existing methods usually treat depth maps as an additional channel…