相关论文: Single-Image Depth Perception in the Wild

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

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…

In this paper, we evaluate dimensionality reduction methods in terms of difficulty in estimating visual information on original images from dimensionally reduced ones. Recently, dimensionality reduction has been receiving attention as the…

We introduce a new RGB-D object dataset captured in the wild called WildRGB-D. Unlike most existing real-world object-centric datasets which only come with RGB capturing, the direct capture of the depth channel allows better 3D annotations…

Stereo matching plays a crucial role in 3D perception and scenario understanding. Despite the proliferation of promising methods, addressing texture-less and texture-repetitive conditions remains challenging due to the insufficient…

Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…

Camera traps are a valuable tool for studying biodiversity, but research using this data is limited by the speed of human annotation. With the vast amounts of data now available it is imperative that we develop automatic solutions for…

Reconstructing objects from real world data and rendering them at novel views is critical to bringing realism, diversity and scale to simulation for robotics training and testing. In this work, we present NeuSim, a novel approach that…

We present an image caption system that addresses new challenges of automatically describing images in the wild. The challenges include high quality caption quality with respect to human judgments, out-of-domain data handling, and low…

We present a novel 3D pose refinement approach based on differentiable rendering for objects of arbitrary categories in the wild. In contrast to previous methods, we make two main contributions: First, instead of comparing real-world images…

Neural networks have shown great abilities in estimating depth from a single image. However, the inferred depth maps are well below one-megapixel resolution and often lack fine-grained details, which limits their practicality. Our method…

Monocular depth estimation is very challenging because clues to the exact depth are incomplete in a single RGB image. To overcome the limitation, deep neural networks rely on various visual hints such as size, shade, and texture extracted…

This paper addresses the problem of estimating the depth map of a scene given a single RGB image. We propose a fully convolutional architecture, encompassing residual learning, to model the ambiguous mapping between monocular images and…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Understanding objects in 3D from a single image is a cornerstone of spatial intelligence. A key step toward this goal is monocular 3D object detection--recovering the extent, location, and orientation of objects from an input RGB image. To…

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…

We present a method for depth estimation with monocular images, which can predict high-quality depth on diverse scenes up to an affine transformation, thus preserving accurate shapes of a scene. Previous methods that predict metric depth…

The task of image deblurring is a very ill-posed problem as both the image and the blur are unknown. Moreover, when pictures are taken in the wild, this task becomes even more challenging due to the blur varying spatially and the occlusions…

The goal of this paper is to detect what has changed, if anything, between two "in the wild" images of the same 3D scene acquired from different camera positions and at different temporal instances. The open-set nature of this problem,…

Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…