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

Accurate dense depth estimation is crucial for autonomous vehicles to analyze their environment. This paper presents a non-deep learning-based approach to densify a sparse LiDAR-based depth map using a guidance RGB image. To achieve this…

In this paper, we explore the possibility of achieving a more accurate depth estimation by fusing monocular images and Radar points using a deep neural network. We give a comprehensive study of the fusion between RGB images and Radar…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

We propose a novel plug-and-play (PnP) module for improving depth prediction with taking arbitrary patterns of sparse depths as input. Given any pre-trained depth prediction model, our PnP module updates the intermediate feature map such…

This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…

This paper addresses the problem of dense depth predictions from sparse distance sensor data and a single camera image on challenging weather conditions. This work explores the significance of different sensor modalities such as camera,…

Estimating depth from a single RGB images is a fundamental task in computer vision, which is most directly solved using supervised deep learning. In the field of unsupervised learning of depth from a single RGB image, depth is not given…

In this paper, we propose a dense monocular SLAM system, named DeepRelativeFusion, that is capable to recover a globally consistent 3D structure. To this end, we use a visual SLAM algorithm to reliably recover the camera poses and…

In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…

In this paper we propose a method for estimating depth from a single image using a coarse to fine approach. We argue that modeling the fine depth details is easier after a coarse depth map has been computed. We express a global (coarse)…

Estimating a dense and accurate depth map is the key requirement for autonomous driving and robotics. Recent advances in deep learning have allowed depth estimation in full resolution from a single image. Despite this impressive result,…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

We propose a method for depth estimation under different illumination conditions, i.e., day and night time. As photometry is uninformative in regions under low-illumination, we tackle the problem through a multi-sensor fusion approach,…

The performance of image based stereo estimation suffers from lighting variations, repetitive patterns and homogeneous appearance. Moreover, to achieve good performance, stereo supervision requires sufficient densely-labeled data, which are…

Depth estimation is of critical interest for scene understanding and accurate 3D reconstruction. Most recent approaches in depth estimation with deep learning exploit geometrical structures of standard sharp images to predict corresponding…

We present an uncertainty learning framework for dense neural simultaneous localization and mapping (SLAM). Estimating pixel-wise uncertainties for the depth input of dense SLAM methods allows re-weighing the tracking and mapping losses…

Depth completion aims to predict a dense depth map from a sparse depth input. The acquisition of dense ground truth annotations for depth completion settings can be difficult and, at the same time, a significant domain gap between real…

We present a method to estimate dense depth by optimizing a sparse set of points such that their diffusion into a depth map minimizes a multi-view reprojection error from RGB supervision. We optimize point positions, depths, and weights…