相关论文: Real Time Dense Depth Estimation by Fusing Stereo …

Depth estimation from a single image represents a fascinating, yet challenging problem with countless applications. Recent works proved that this task could be learned without direct supervision from ground truth labels leveraging image…

Accurate depth estimation is critical for autonomous driving perception systems, particularly for long range vehicle detection on highways. Traditional dense stereo matching methods such as Block Matching (BM) and Semi Global Matching (SGM)…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

Stereo depth estimation relies on optimal correspondence matching between pixels on epipolar lines in the left and right images to infer depth. In this work, we revisit the problem from a sequence-to-sequence correspondence perspective to…

It is well known that the passive stereo system cannot adapt well to weak texture objects, e.g., white walls. However, these weak texture targets are very common in indoor environments. In this paper, we present a novel stereo system, which…

We present a passive stereo depth system that produces dense and accurate point clouds optimized for human environments, including dark, textureless, thin, reflective and specular surfaces and objects, at 2560x2048 resolution, with 384…

We present a new deep learning-based approach for dense stereo matching. Compared to previous works, our approach does not use deep learning of pixel appearance descriptors, employing very fast classical matching scores instead. At the same…

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…

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as…

Dense depth recovery is crucial in autonomous driving, serving as a foundational element for obstacle avoidance, 3D object detection, and local path planning. Adverse weather conditions, including haze, dust, rain, snow, and darkness,…

Depth sensing is of paramount importance for unmanned aerial and autonomous vehicles. Nonetheless, contemporary monocular depth estimation methods employing complex deep neural networks within Convolutional Neural Networks are inadequately…

Stereo cameras and dense stereo matching algorithms are core components for many robotic applications due to their abilities to directly obtain dense depth measurements and their robustness against changes in lighting conditions. However,…

Computationally efficient moving object detection and depth estimation from a stereo camera is an extremely useful tool for many computer vision applications, including robotics and autonomous driving. In this paper we show how moving…

For many applications in low-power real-time robotics, stereo cameras are the sensors of choice for depth perception as they are typically cheaper and more versatile than their active counterparts. Their biggest drawback, however, is that…

Stereo matching provides depth estimation from binocular images for downstream applications. These applications mostly take video streams as input and require temporally consistent depth maps. However, existing methods mainly focus on the…

Real-time Stereo Matching is a cornerstone algorithm for many Extended Reality (XR) applications, such as indoor 3D understanding, video pass-through, and mixed-reality games. Despite significant advancements in deep stereo methods,…

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…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

End-to-end deep-learning networks recently demonstrated extremely good perfor- mance for stereo matching. However, existing networks are difficult to use for practical applications since (1) they are memory-hungry and unable to process even…