相关论文: HMS-Net: Hierarchical Multi-scale Sparsity-invaria…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

This paper introduces Scene Completeness-Aware Depth Completion (SCADC) to complete raw lidar scans into dense depth maps with fine and complete scene structures. Recent sparse depth completion for lidars only focuses on the lower scenes…

Image guided depth completion is the task of generating a dense depth map from a sparse depth map and a high quality image. In this task, how to fuse the color and depth modalities plays an important role in achieving good performance. This…

Depth prediction is a critical problem in robotics applications especially autonomous driving. Generally, depth prediction based on binocular stereo matching and fusion of monocular image and laser point cloud are two mainstream methods.…

We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to…

Depth completion (DC) aims to predict a dense depth map from an RGB image and a sparse depth map. Existing DC methods generalize poorly to new datasets or unseen sparse depth patterns, limiting their real-world applications. We propose…

The paper proposes an image-guided depth completion method to estimate accurate dense depth maps with fast computation time. The proposed network has two-stage structure. The first stage predicts a first depth map. Then, the second stage…

In this paper, we propose a new global geometry constraint for depth completion. By assuming depth maps often lay on low dimensional subspaces, a dense depth map can be approximated by a weighted sum of full-resolution principal depth…

Depth completion endeavors to reconstruct a dense depth map from sparse depth measurements, leveraging the information provided by a corresponding color image. Existing approaches mostly hinge on single-scale propagation strategies that…

Hyperspectral images (HSIs) have been widely applied in many fields, such as military, agriculture, and environment monitoring. Nevertheless, HSIs commonly suffer from various types of noise during acquisition. Therefore, denoising is…

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 aim at predicting a complete and high-resolution depth map from incomplete, sparse and noisy depth measurements. Existing methods handle this problem either by exploiting various regularizations on the depth maps directly or resorting to…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

In this paper, we introduce the Selective Image Guided Network (SigNet), a novel degradation-aware framework that transforms depth completion into depth enhancement for the first time. Moving beyond direct completion using convolutional…

Depth completion is a popular research direction in the field of depth estimation. The fusion of color and depth features is the current critical challenge in this task, mainly due to the asymmetry between the rich scene details in color…

The main function of depth completion is to compensate for an insufficient and unpredictable number of sparse depth measurements of hardware sensors. However, existing research on depth completion assumes that the sparsity -- the number of…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

The raw depth image captured by the indoor depth sensor usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and limited distance range. The incomplete…