Related papers: The Midas Touch for Metric Depth
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
Unsupervised depth completion and estimation methods are trained by minimizing reconstruction error. Block artifacts from resampling, intensity saturation, and occlusions are amongst the many undesirable by-products of common data…
Recently, 3D Gaussian Splatting (3D-GS) has prevailed in novel view synthesis, achieving high fidelity and efficiency. However, it often struggles to capture rich details and complete geometry. Our analysis reveals that the 3D-GS…
Monocular depth estimation (MDE) has widely applicable but remains highly challenging due to the inherently ill-posed nature of reconstructing 3D scenes from single 2D images. Modern Vision Foundation Models (VFMs), pre-trained on…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
Multidimensional scaling (MDS) is the act of embedding proximity information about a set of $n$ objects in $d$-dimensional Euclidean space. As originally conceived by the psychometric community, MDS was concerned with embedding a fixed set…
As an inherently ill-posed problem, depth estimation from single images is the most challenging part of monocular 3D object detection (M3OD). Many existing methods rely on preconceived assumptions to bridge the missing spatial information…
In the rapidly evolving field of 3D reconstruction, 3D Gaussian Splatting (3DGS) and 2D Gaussian Splatting (2DGS) represent significant advancements. Although 2DGS compresses 3D Gaussian primitives into 2D Gaussian surfels to effectively…
Recent advances in radiance fields and novel view synthesis enable creation of realistic digital twins from photographs. However, current methods struggle with flat, texture-less surfaces, creating uneven and semi-transparent…
3D Gaussian Splatting (3DGS) achieves remarkable results in the field of surface reconstruction. However, when Gaussian normal vectors are aligned within the single-view projection plane, while the geometry appears reasonable in the current…
During relativistic magnetic reconnection, antiparallel magnetic fields undergo a rapid change in topology, releasing a large amount of energy in the form of non-thermal particle acceleration. This work explores the application of mesh…
Navigation and mapping on the lunar surface require robust perception under challenging conditions, including poorly textured environments, high-contrast lighting, and limited computational resources. This paper presents a real-time mapping…
Monocular depth estimation has greatly improved in the recent years but models predicting metric depth still struggle to generalize across diverse camera poses and datasets. While recent supervised methods mitigate this issue by leveraging…
Spatial resolution of depth sensors is often significantly lower compared to that of conventional optical cameras. Recent work has explored the idea of improving the resolution of depth using higher resolution intensity as a side…
We present MidasTouch, a tactile perception system for online global localization of a vision-based touch sensor sliding on an object surface. This framework takes in posed tactile images over time, and outputs an evolving distribution of…
3D Gaussian Splatting (3DGS) has emerged as a leading approach for high-quality novel view synthesis, with numerous variants extending its applicability to a broad spectrum of 3D and 4D scene reconstruction tasks. Despite its success, the…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Sparse-view satellite image surface reconstruction remains highly challenging, fundamentally because the reliability of multi-view matching under satellite imaging conditions is strongly spatially heterogeneous. Affected by large…
Aerial scene understanding systems face stringent payload restrictions and must often rely on monocular depth estimation for modeling scene geometry, which is an inherently ill-posed problem. Moreover, obtaining accurate ground truth data…
Accurate endoscope pose estimation and 3D tissue surface reconstruction significantly enhances monocular minimally invasive surgical procedures by enabling accurate navigation and improved spatial awareness. However, monocular endoscope…