相关论文: Single-shot 3D sensing with improved data density

Flying Triangulation sensors enable a free-hand and motion-robust 3D data acquisition of complex shaped objects. The measurement principle is based on a multi-line light-sectioning approach and uses sophisticated algorithms for real-time…

We introduce a method and a 3D-camera for single-shot 3D shape measurement, with unprecedented features: The 3D-camera does not rely on pattern codification and acquires object surfaces at the theoretical limit of the information…

Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…

Accurate 3D imaging is essential for machines to map and interact with the physical world. While numerous 3D imaging technologies exist, each addressing niche applications with varying degrees of success, none have achieved the breadth of…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…

The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Multi-view imaging systems enable uniform coverage of 3D space and reduce the impact of occlusion, which is beneficial for 3D object detection and tracking accuracy. However, existing imaging systems built with multi-view cameras or depth…

Structured-light three-dimensional (3D) imaging can achieve 3D shape of a stationary object via one or more pixelated array cameras with phase-shifting illumination. In order to extend 3D imaging to moving scenarios, we propose a 3D imaging…

Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…

Recently three-dimensional (3D) imaging achieves tremendous success in consumer and industrial manufacturing. However, current 3D imaging methods rarely observe dynamical events happening in a short time interval due to the imaging speed…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

Based on point spread function (PSF) engineering and astigmatism due to a pair of cylindrical lenses, a novel compressed imaging mechanism is proposed to achieve single-shot incoherent 3D imaging. The speckle-like PSF of the imaging system…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Reliable object grasping is one of the fundamental tasks in robotics. However, determining grasping pose based on single-image input has long been a challenge due to limited visual information and the complexity of real-world objects. In…