相关论文: Deep Depth Completion of a Single RGB-D Image

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

Due to the abundance of 2D product images from the Internet, developing efficient and scalable algorithms to recover the missing depth information is central to many applications. Recent works have addressed the single-view depth estimation…

Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify…

Due to the visual properties of reflection and refraction, RGB-D cameras cannot accurately capture the depth of transparent objects, leading to incomplete depth maps. To fill in the missing points, recent studies tend to explore new visual…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image…

This paper proposes a deep neural network (DNN) for piece-wise planar depthmap reconstruction from a single RGB image. While DNNs have brought remarkable progress to single-image depth prediction, piece-wise planar depthmap reconstruction…

The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…

Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data…

Estimating depth from single RGB images and videos is of widespread interest due to its applications in many areas, including autonomous driving, 3D reconstruction, digital entertainment, and robotics. More than 500 deep learning-based…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

Advancements in imaging technology have enabled hardware to support 10 to 16 bits per channel, facilitating precise manipulation in applications like image editing and video processing. While deep neural networks promise to recover high…

3D perception ability is crucial for generalizable robotic manipulation. While recent foundation models have made significant strides in perception and decision-making with RGB-based input, their lack of 3D perception limits their…

Current self-supervised methods for monocular depth estimation are largely based on deeply nested convolutional networks that leverage stereo image pairs or monocular sequences during a training phase. However, they often exhibit inaccurate…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

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…

Mobile robots that manipulate their environments require high-accuracy scene understanding at close range. Typically this understanding is achieved with RGBD cameras, but the evaluation process for selecting an appropriate RGBD camera for…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…