相关论文: Vision System and Depth Processing for DRC-HUBO+

This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The…

We present Depth-aware Image-based NEural Radiance fields (DINER). Given a sparse set of RGB input views, we predict depth and feature maps to guide the reconstruction of a volumetric scene representation that allows us to render 3D objects…

Reconstructing 3D objects is an important computer vision task that has wide application in AR/VR. Deep learning algorithm developed for this task usually relies on an unrealistic synthetic dataset, such as ShapeNet and Things3D. On the…

3D perception ability is crucial for generalizable robotic manipulation. While recent foundation models have made significant strides in perception and decision-making with RGB-based input, their lack of 3D perception limits their…

Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…

Marine debris detection for ocean robot is crucial for ecological protection, yet performance is often degraded by low-quality images with blur, complex backgrounds, and small targets. To address these challenges, we propose YOLO-MD, an…

Augmented Reality and mobile robots are gaining much attention within industries due to the high potential to make processes cost and time efficient. To facilitate augmented reality, a calibration between the Augmented Reality device and…

Object detection precision is crucial for ensuring the safety and efficacy of autonomous driving systems. The quality of acquired images directly influences the ability of autonomous driving systems to correctly recognize and respond 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…

In past few years we have observed an increase in the usage of RGBD sensors in mobile devices. These sensors provide a good estimate of the depth map for the camera frame, which can be used in numerous augmented reality applications. This…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Depth information which specifies the distance between objects and current position of the robot is essential for many robot tasks such as navigation. Recently, researchers have proposed depth completion frameworks to provide dense depth…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…

Three-dimensional object detection is essential for autonomous driving and robotics, relying on effective fusion of multimodal data from cameras and radar. This work proposes RCDINO, a multimodal transformer-based model that enhances visual…

This study presents a multisensory machine learning architecture for object recognition by employing a novel dataset that was constructed with the iCub robot, which is equipped with three cameras and a depth sensor. The proposed…

Rendering realistic images with global illumination is a computationally demanding task and often requires dedicated hardware for feasible runtime. Recent research uses Deep Neural Networks to predict indirect lighting on image level, but…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…