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

As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…

Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…

Multi-view capture systems are complex systems to engineer. They require technical knowledge to install and intricate processes to setup related mainly to the sensors' spatial alignment (i.e. external calibration). However, with the ongoing…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

Recently, deep learning approaches have achieved promising results in various fields of computer vision. In this paper, we investigate the combination of deep learning based methods and depth maps as input images to tackle the problem of…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Distortion identification and rectification in images and videos is vital for achieving good performance in downstream vision applications. Instead of relying on fixed trial-and-error based image processing pipelines, we propose a two-level…

To address the issues of weak correlation between multi-view features, low recognition accuracy of small-scale targets, and insufficient robustness in complex scenarios in underground pipeline detection using 3D GPR, this paper proposes a…

The stability of visual odometry (VO) systems is undermined by degraded image quality, especially in environments with significant illumination changes. This study employs a deep reinforcement learning (DRL) framework to train agents for…

Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…

Astronomical surveys and the growing involvement of amateur astronomers are producing more sky images than ever before, and this calls for automated processing methods that are accurate and robust. Detecting Deep Sky Objects -- such as…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…

Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…

Real-time depth of field in game cinematics tends to approximate the semi-transparent silhouettes of out-of-focus objects through post-processing techniques. We leverage ray tracing hardware acceleration and spatio-temporal reconstruction…

This paper presents an algorithmic framework for the distributed on-line source seeking, termed as 'DoSS', with a multi-robot system in an unknown dynamical environment. Our algorithm, building on a novel concept called dummy confidence…

Under-Display Camera (UDC) has been widely exploited to help smartphones realize full screen display. However, as the screen could inevitably affect the light propagation process, the images captured by the UDC system usually contain flare,…

Accurate object perception is essential for robotic applications such as object navigation. In this paper, we propose DQO-MAP, a novel object-SLAM system that seamlessly integrates object pose estimation and reconstruction. We employ 3D…

RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used…