相关论文: Embedded real-time stereo estimation via Semi-Glob…

In this paper, we propose an efficient multi-scale geometric consistency guided multi-view stereo method for accurate and complete depth map estimation. We first present our basic multi-view stereo method with Adaptive Checkerboard sampling…

Learning-based stereo matching has recently achieved promising results, yet still suffers difficulties in establishing reliable matches in weakly matchable regions that are textureless, non-Lambertian, or occluded. In this paper, we address…

Video stereo matching is the task of estimating consistent disparity maps from rectified stereo videos. There is considerable scope for improvement in both datasets and methods within this area. Recent learning-based methods often focus on…

In embedded systems, robots must perceive and interpret their environment efficiently to operate reliably in real-world conditions. Visual Semantic SLAM (Simultaneous Localization and Mapping) enhances standard SLAM by incorporating…

Stochastic gradient methods (SGMs) are the predominant approaches to train deep learning models. The adaptive versions (e.g., Adam and AMSGrad) have been extensively used in practice, partly because they achieve faster convergence than the…

Depth perception is a key component for autonomous systems that interact in the real world, such as delivery robots, warehouse robots, and self-driving cars. Tasks in autonomous robotics such as 3D object recognition, simultaneous…

With the recent proliferation of large-scale learning problems,there have been a lot of interest on distributed machine learning algorithms, particularly those that are based on stochastic gradient descent (SGD) and its variants. However,…

Graph similarity computation is one of the core operations in many graph-based applications, such as graph similarity search, graph database analysis, graph clustering, etc. Since computing the exact distance/similarity between two graphs…

Depth sensing is of paramount importance for unmanned aerial and autonomous vehicles. Nonetheless, contemporary monocular depth estimation methods employing complex deep neural networks within Convolutional Neural Networks are inadequately…

In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric model labels (e.g., camera poses, rigid transformations). Our…

Sparse matrix multiplication is an important kernel for large-scale graph processing and other data-intensive applications. In this paper, we implement various asynchronous, RDMA-based sparse times dense (SpMM) and sparse times sparse…

3D Gaussian splatting (3DGS) has emerged as a promising direction for SLAM due to its high-fidelity reconstruction and rapid convergence. However, 3DGS-SLAM algorithms remain impractical for mobile platforms due to their high computational…

State-of-the-art supervised stereo matching methods have achieved remarkable performance on various benchmarks. However, their generalization to real-world scenarios remains challenging due to the scarcity of annotated real-world stereo…

Dense stereo matching with deep neural networks is of great interest to the research community. Existing stereo matching networks typically use slow and computationally expensive 3D convolutions to improve the performance, which is not…

Graph neural networks (GNNs) realize great success in graph learning but suffer from performance loss when meeting heterophily, i.e. neighboring nodes are dissimilar, due to their local and uniform aggregation. Existing attempts of…

Semi-supervised semantic segmentation (SSSS) is vital in computational pathology, where dense annotations are costly and limited. Existing methods often rely on pixel-level consistency, which propagates noisy pseudo-labels and produces…

We introduce a new stereo formulation which does not use pixel and disparity models. Many problems in vision are treated as assigning each pixel a label. Disparities are labels for stereo. Such pixel-labeling problems are naturally…

The recent pandemic emergency raised many challenges regarding the countermeasures aimed at containing the virus spread, and constraining the minimum distance between people resulted in one of the most effective strategies. Thus, the…