相关论文: Sparse-to-Dense: Depth Prediction from Sparse Dept…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Sparse coding can learn good robust representation to noise and model more higher-order representation for image classification. However, the inference algorithm is computationally expensive even though the supervised signals are used to…

Simultaneous Localization and Mapping (SLAM) has been crucial across various domains, including autonomous driving, mobile robotics, and mixed reality. Dense visual SLAM, leveraging RGB-D camera systems, offers advantages but faces…

Single-view depth prediction is a fundamental problem in computer vision. Recently, deep learning methods have led to significant progress, but such methods are limited by the available training data. Current datasets based on 3D sensors…

Recovering surgical scene structure in laparoscope surgery is crucial step for surgical guidance and augmented reality applications. In this paper, a quasi dense reconstruction algorithm of surgical scene is proposed. This is based on a…

Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…

Neural implicit fields have recently emerged as a powerful representation method for multi-view surface reconstruction due to their simplicity and state-of-the-art performance. However, reconstructing thin structures of indoor scenes while…

This work considers the problem of depth completion, with or without image data, where an algorithm may measure the depth of a prescribed limited number of pixels. The algorithmic challenge is to choose pixel positions strategically and…

Achieving high-fidelity 3D reconstruction from monocular video remains challenging due to the inherent limitations of traditional methods like Structure-from-Motion (SfM) and monocular SLAM in accurately capturing scene details. While…

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…

We present MonoGS++, a novel fast and accurate Simultaneous Localization and Mapping (SLAM) method that leverages 3D Gaussian representations and operates solely on RGB inputs. While previous 3D Gaussian Splatting (GS)-based methods largely…

Recent progress in dense SLAM has primarily targeted monocular setups, often at the expense of robustness and geometric coverage. We present MCGS-SLAM, the first purely RGB-based multi-camera SLAM system built on 3D Gaussian Splatting…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, which excels in such environments. However, thermal imaging…

We present a method to infer a dense depth map from a color image and associated sparse depth measurements. Our main contribution lies in the design of an annealing process for determining co-visibility (occlusions, disocclusions) and the…

This paper presents a neural network to estimate a detailed depth map of the foreground human in a single RGB image. The result captures geometry details such as cloth wrinkles, which are important in visualization applications. To achieve…

Deep neural networks often suffer from poor generalization caused by complex and non-convex loss landscapes. One of the popular solutions is Sharpness-Aware Minimization (SAM), which smooths the loss landscape via minimizing the maximized…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…