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

Feature-based visual simultaneous localization and mapping (SLAM) methods only estimate the depth of extracted features, generating a sparse depth map. To solve this sparsity problem, depth completion tasks that estimate a dense depth from…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…

We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…

Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth…

Pansharpening in remote sensing image aims at acquiring a high-resolution multispectral (HRMS) image directly by fusing a low-resolution multispectral (LRMS) image with a panchromatic (PAN) image. The main concern is how to effectively…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are…

Depth completion from sparse LiDAR and high-resolution RGB data is one of the foundations for autonomous driving techniques. Current approaches often rely on CNN-based methods with several known drawbacks: flying pixel at depth…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

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…

Limited by the cost and technology, the resolution of depth map collected by depth camera is often lower than that of its associated RGB camera. Although there have been many researches on RGB image super-resolution (SR), a major problem…

In autonomous driving, High Definition (HD) maps provide a complete lane model that is not limited by sensor range and occlusions. However, the generation and upkeep of HD maps involves periodic data collection and human annotations,…

Image-guided depth completion aims to generate dense depth maps with sparse depth measurements and corresponding RGB images. Currently, spatial propagation networks (SPNs) are the most popular affinity-based methods in depth completion, but…

Three-dimensional imaging plays an important role in imaging applications where it is necessary to record depth. The number of applications that use depth imaging is increasing rapidly, and examples include self-driving autonomous vehicles…

The sensing and manipulation of transparent objects present a critical challenge in industrial and laboratory robotics. Conventional sensors face challenges in obtaining the full depth of transparent objects due to the refraction and…

Perceiving the three-dimensional (3D) structure of the spacecraft is a prerequisite for successfully executing many on-orbit space missions, and it can provide critical input for many downstream vision algorithms. In this paper, we propose…

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,…

Sparse active illumination enables precise time-of-flight depth sensing as it maximizes signal-to-noise ratio for low power budgets. However, depth completion is required to produce dense depth maps for 3D perception. We address this task…

In this paper, we propose a robust and efficient end-to-end non-local spatial propagation network for depth completion. The proposed network takes RGB and sparse depth images as inputs and estimates non-local neighbors and their affinities…

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,…