Related papers: CM-EVS: Sparse Panoramic RGB-D-Pose Data for Compl…
The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…
The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…
6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…
Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Depth completion in dynamic scenes poses significant challenges due to rapid ego-motion and object motion, which can severely degrade the quality of input modalities such as RGB images and LiDAR measurements. Conventional RGB-D sensors…
A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…
Event cameras are bio-inspired sensors that output asynchronous and sparse event streams, instead of fixed frames. Benefiting from their distinct advantages, such as high dynamic range and high temporal resolution, event cameras have been…
Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…
Vision foundation models (FMs) achieve state-of-the-art performance in medical imaging. However, they encode information in abstract latent representations that clinicians cannot interrogate or verify. The goal of this study is to…
In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…
Detection and tracking of moving objects is an essential component in environmental perception for autonomous driving. In the flourishing field of multi-view 3D camera-based detectors, different transformer-based pipelines are designed to…
Visual relocalization is a key technique to autonomous driving, robotics, and virtual/augmented reality. After decades of explorations, absolute pose regression (APR), scene coordinate regression (SCR), and hierarchical methods (HMs) have…
We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particularly foundation models, have demonstrated promising…
Novel view synthesis refers to the problem of synthesizing novel viewpoints of a scene given the images from a few viewpoints. This is a fundamental problem in computer vision and graphics, and enables a vast variety of applications such as…
The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…
With the development of information technology, we have witnessed an age of data explosion which produces a large variety of data filled with redundant information. Because dimension reduction is an essential tool which embeds…
Reliable control of myoelectric prostheses is often hindered by high inter-subject variability and the clinical impracticality of high-density sensor arrays. This study proposes a deep learning framework for accurate gesture recognition…
In this paper, we formulate a potentially valuable panoramic depth completion (PDC) task as panoramic 3D cameras often produce 360{\deg} depth with missing data in complex scenes. Its goal is to recover dense panoramic depths from raw…
Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…