相关论文: Real-Time Stereo Vision for Road Surface 3-D Recon…

Accurate geometric surface reconstruction, providing essential environmental information for navigation and manipulation tasks, is critical for enabling robotic self-exploration and interaction. Recently, 3D Gaussian Splatting (3DGS) has…

Recovering the shape and appearance of real-world objects from natural 2D images is a long-standing and challenging inverse rendering problem. In this paper, we introduce a novel hybrid differentiable rendering method to efficiently…

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…

2D cameras are often used in interactive systems. Other systems like gaming consoles provide more powerful 3D cameras for short range depth sensing. Overall, these cameras are not reliable in large, complex environments. In this work, we…

The disparity information provided by stereo cameras has enabled advanced driver assistance systems to estimate road area more accurately and effectively. In this paper, a novel disparity transformation algorithm is proposed to extract road…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

3D Gaussian Splatting (3DGS) achieves remarkable results in the field of surface reconstruction. However, when Gaussian normal vectors are aligned within the single-view projection plane, while the geometry appears reasonable in the current…

This paper addresses the problem of simultaneous 3D reconstruction and material recognition and segmentation. Enabling robots to recognise different materials (concrete, metal etc.) in a scene is important for many tasks, e.g. robotic…

As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety…

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the…

Disparity/depth estimation from sequences of stereo images is an important element in 3D vision. Owing to occlusions, imperfect settings and homogeneous luminance, accurate estimate of depth remains a challenging problem. Targetting view…

Stereo rectification is the determination of two image transformations (or homographies) that map corresponding points on the two images, projections of the same point in the 3D space, onto the same horizontal line in the transformed…

Reconstructing 3D objects from a single image is an intriguing but challenging problem. One promising solution is to utilize multi-view (MV) 3D reconstruction to fuse generated MV images into consistent 3D objects. However, the generated…

We present a method for 3D reconstruction only using calibrated multi-view surface azimuth maps. Our method, multi-view azimuth stereo, is effective for textureless or specular surfaces, which are difficult for conventional multi-view…

Stereo images, containing left and right view images with disparity, are utilized in solving low-vision tasks recently, e.g., rain removal and super-resolution. Stereo image restoration methods usually obtain better performance than…

The driving behavior at urban intersections is very complex. It is thus crucial for autonomous vehicles to comprehensively understand challenging urban traffic scenes in order to navigate intersections and prevent accidents. In this paper,…

The growing adoption of XR devices has fueled strong demand for high-quality stereo video, yet its production remains costly and artifact-prone. To address this challenge, we present StereoWorld, an end-to-end framework that repurposes a…

We introduce the first end-to-end learning-based solution to near-field Photometric Stereo (PS), where the light sources are close to the object of interest. This setup is especially useful for reconstructing large immobile objects. Our…

We present a novel framework to learn to convert the perpixel photometric information at each view into spatially distinctive and view-invariant low-level features, which can be plugged into existing multi-view stereo pipeline for enhanced…

We present the design of a productionized end-to-end stereo depth sensing system that does pre-processing, online stereo rectification, and stereo depth estimation with a fallback to monocular depth estimation when rectification is…