相关论文: GroundNet: Monocular Ground Plane Normal Estimatio…

Current geometry-based monocular 3D object detection models can efficiently detect objects by leveraging perspective geometry, but their performance is limited due to the absence of accurate depth information. Though this issue can be…

This paper presents an end-to-end differentiable algorithm for robust and detail-preserving surface normal estimation on unstructured point-clouds. We utilize graph neural networks to iteratively parameterize an adaptive anisotropic kernel…

Geometry Projection is a powerful depth estimation method in monocular 3D object detection. It estimates depth dependent on heights, which introduces mathematical priors into the deep model. But projection process also introduces the error…

Most advances in single image de-raining meet a key challenge, which is removing rain streaks with different scales and shapes while preserving image details. Existing single image de-raining approaches treat rain-streak removal as a…

The ultimate goal of this indoor mapping research is to automatically reconstruct a floorplan simply by walking through a house with a smartphone in a pocket. This paper tackles this problem by proposing FloorNet, a novel deep neural…

Semantic segmentation and depth estimation are two important tasks in the area of image processing. Traditionally, these two tasks are addressed in an independent manner. However, for those applications where geometric and semantic…

3D reconstruction from single view images is an ill-posed problem. Inferring the hidden regions from self-occluded images is both challenging and ambiguous. We propose a two-pronged approach to address these issues. To better incorporate…

Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic…

Predicting depth is an essential component in understanding the 3D geometry of a scene. While for stereo images local correspondence suffices for estimation, finding depth relations from a single image is less straightforward, requiring…

The integration of aerial and ground images has been a promising solution in 3D modeling of complex scenes, which is seriously restricted by finding reliable correspondences. The primary contribution of this study is a feature matching…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

Surface-based geodesic topology provides strong cues for object semantic analysis and geometric modeling. However, such connectivity information is lost in point clouds. Thus we introduce GeoNet, the first deep learning architecture trained…

We propose a method SPGNet for 3D human pose estimation that mixes multi-dimensional re-projection into supervised learning. In this method, the 2D-to-3D-lifting network predicts the global position and coordinates of the 3D human pose.…

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…

Surface normal estimation from a single image is an important task in 3D scene understanding. In this paper, we address two limitations shared by the existing methods: the inability to estimate the aleatoric uncertainty and lack of detail…

Deep neural networks (DNNs) have achieved great success in the area of computer vision. The disparity estimation problem tends to be addressed by DNNs which achieve much better prediction accuracy in stereo matching than traditional…

Recent advances in artificial intelligence (AI), in particular foundation models, have improved the state of the art in many application domains including geosciences. Some specific problems, however, could not benefit from this progress…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Despite the remarkable progress facilitated by learning-based stereo-matching algorithms, disparity estimation in low-texture, occluded, and bordered regions still remains a bottleneck that limits the performance. To tackle these…