相关论文: Exploiting Depth from Single Monocular Images for …

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Depth estimation from monocular endoscopic images presents significant challenges due to the complexity of endoscopic surgery, such as irregular shapes of human soft tissues, as well as variations in lighting conditions. Existing methods…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

Image saliency detection is an active research topic in the community of computer vision and multimedia. Fusing complementary RGB and thermal infrared data has been proven to be effective for image saliency detection. In this paper, we…

Analyzing scenes thoroughly is crucial for mobile robots acting in different environments. Semantic segmentation can enhance various subsequent tasks, such as (semantically assisted) person perception, (semantic) free space detection,…

Existing RGB-D salient object detection methods treat depth information as an independent component to complement its RGB part, and widely follow the bi-stream parallel network architecture. To selectively fuse the CNNs features extracted…

Depth information has proven to be a useful cue in the semantic segmentation of RGB-D images for providing a geometric counterpart to the RGB representation. Most existing works simply assume that depth measurements are accurate and…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Object pose detection and tracking has recently attracted increasing attention due to its wide applications in many areas, such as autonomous driving, robotics, and augmented reality. Among methods for object pose detection and tracking,…

Monocular 3D object detection has attracted widespread attention due to its potential to accurately obtain object 3D localization from a single image at a low cost. Depth estimation is an essential but challenging subtask of monocular 3D…

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…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

Multi-task approaches to joint depth and segmentation prediction are well-studied for monocular images. Yet, predictions from a single-view are inherently limited, while multiple views are available in many robotics applications. On the…

Indoor robots rely on depth to perform tasks like navigation or obstacle detection, and single-image depth estimation is widely used to assist perception. Most indoor single-image depth prediction focuses less on model generalizability to…

Monocular depth estimation is a challenging task in complex compositions depicting multiple objects of diverse scales. Albeit the recent great progress thanks to the deep convolutional neural networks (CNNs), the state-of-the-art monocular…

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…

We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system controls the motion…

Object-centric architectures can learn to extract distinct object representations from visual scenes, enabling downstream applications on the object level. Similarly to autoencoder-based image models, object-centric approaches have been…

While an increasing interest in deep models for single-image depth estimation methods can be observed, established schemes for their evaluation are still limited. We propose a set of novel quality criteria, allowing for a more detailed…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…