相关论文: HDRFusion: HDR SLAM using a low-cost auto-exposure…

Extreme exposure degrades both the 3D map reconstruction and semantic segmentation accuracy, which is particularly detrimental to tightly-coupled systems. To achieve illumination invariance, we propose a novel semantic SLAM framework with…

Robust 3D object detection is critical for safe autonomous driving. Camera and radar sensors are synergistic as they capture complementary information and work well under different environmental conditions. Fusing camera and radar data is…

High dynamic range (HDR) video rendering from low dynamic range (LDR) videos where frames are of alternate exposure encounters significant challenges, due to the exposure change and absence at each time stamp. The exposure change and…

This paper presents a new approach to accurately track a moving vehicle with a multiview setup of red-green-blue depth (RGBD) cameras. We first propose a correction method to eliminate a shift, which occurs in depth sensors when they become…

There are shadow and highlight regions in a low dynamic range (LDR) image which is captured from a high dynamic range (HDR) scene. It is an ill-posed problem to restore the saturated regions of the LDR image. In this paper, the saturated…

We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and assigns semantic class…

Depth estimation in complex real-world scenarios is a challenging task, especially when relying solely on a single modality such as visible light or thermal infrared (THR) imagery. This paper proposes a novel multimodal depth estimation…

The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to…

High dynamic range (HDR) videos provide a more visually realistic experience than the standard low dynamic range (LDR) videos. Despite having significant progress in HDR imaging, it is still a challenging task to capture high-quality HDR…

Accurate 3D object detection is critical for autonomous driving, necessitating reliable, cost-effective sensors capable of operating in adverse weather conditions. Camera and millimeter-wave radar fusion has emerged as a promising solution;…

We present DropD-SLAM, a real-time monocular SLAM system that achieves RGB-D-level accuracy without relying on depth sensors. The system replaces active depth input with three pretrained vision modules: a monocular metric depth estimator, a…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

High Dynamic Range (HDR) imaging aims to replicate the high visual quality and clarity of real-world scenes. Due to the high costs associated with HDR imaging, the literature offers various data-driven methods for HDR image reconstruction…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

We present a learning-based technique for estimating high dynamic range (HDR), omnidirectional illumination from a single low dynamic range (LDR) portrait image captured under arbitrary indoor or outdoor lighting conditions. We train our…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

3D surface reconstruction is essential across applications of virtual reality, robotics, and mobile scanning. However, RGB-based reconstruction often fails in low-texture, low-light, and low-albedo scenes. Handheld LiDARs, now common on…

This paper describes a physics-based end-to-end software simulation for image systems. We use the software to explore sensors designed to enhance performance in high dynamic range (HDR) environments, such as driving through daytime tunnels…

Within an imaging instrument's field of view, there may be many observational targets of interest. Similarly, within a spectrograph's bandpass, there may be many emission lines of interest. The brightness of these targets and lines can be…