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

Passive depth estimation is among the most long-studied fields in computer vision. The most common methods for passive depth estimation are either a stereo or a monocular system. Using the former requires an accurate calibration process,…

Stereo matching is a key technique for metric depth estimation in computer vision and robotics. Real-world challenges like occlusion and non-texture hinder accurate disparity estimation from binocular matching cues. Recently, monocular…

Video depth estimation is crucial in various applications, such as scene reconstruction and augmented reality. In contrast to the naive method of estimating depths from images, a more sophisticated approach uses temporal information,…

Accurate depth information is essential for many computer vision applications. Yet, no available dataset recording method allows for fully dense accurate depth estimation in a large scale dynamic environment. In this paper, we introduce…

Stereo matching plays a crucial role in 3D perception and scenario understanding. Despite the proliferation of promising methods, addressing texture-less and texture-repetitive conditions remains challenging due to the insufficient…

Stereo matching is one of the widely used techniques for inferring depth from stereo images owing to its robustness and speed. It has become one of the major topics of research since it finds its applications in autonomous driving, robotic…

Depth estimation under adverse conditions remains a significant challenge. Recently, multi-spectral depth estimation, which integrates both visible light and thermal images, has shown promise in addressing this issue. However, existing…

Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Monocular depth estimation aims at estimating a pixelwise depth map for a single image, which has wide applications in scene understanding and autonomous driving. Existing supervised and unsupervised methods face great challenges.…

Recent video depth estimation methods achieve great performance by following the paradigm of image depth estimation, i.e., typically fine-tuning pre-trained video diffusion models with massive data. However, we argue that video depth…

We present a novel high-resolution and challenging stereo dataset framing indoor scenes annotated with dense and accurate ground-truth disparities. Peculiar to our dataset is the presence of several specular and transparent surfaces, i.e.…

This paper addresses the problem of range-stereo fusion, for the construction of high-resolution depth maps. In particular, we combine low-resolution depth data with high-resolution stereo data, in a maximum a posteriori (MAP) formulation.…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and non-learning ones, consume too much computational resource on…

Omnidirectional depth perception is essential for mobile robotics applications that require scene understanding across a full 360{\deg} field of view. Camera-based setups offer a cost-effective option by using stereo depth estimation to…

Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

Self-supervised depth estimation algorithms rely heavily on frame-warping relationships, exhibiting substantial performance degradation when applied in challenging circumstances, such as low-visibility and nighttime scenarios with varying…

We consider the problem of reconstructing a dynamic scene observed from a stereo camera. Most existing methods for depth from stereo treat different stereo frames independently, leading to temporally inconsistent depth predictions. Temporal…