相关论文: DeepLiDAR: Deep Surface Normal Guided Depth Predic…

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…

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…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Given the lidar measurements from an autonomous vehicle, we can project the points and generate a sparse depth image. Depth completion aims at increasing the resolution of such a depth image by infilling and interpolating the sparse depth…

Recently, significant progress has been achieved in sensing real large-scale outdoor 3D environments, particularly by using modern acquisition equipment such as LiDAR sensors. Unfortunately, they are fundamentally limited in their ability…

Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth sensors such as LiDARs are often heavy, expensive and can only…

Dense depth cues are important and have wide applications in various computer vision tasks. In autonomous driving, LIDAR sensors are adopted to acquire depth measurements around the vehicle to perceive the surrounding environments. However,…

In this work, we propose a step towards a more accurate prediction of the environment light given a single picture of a known object. To achieve this, we developed a deep learning method that is able to encode the latent space of indoor…

We present a method that tackles the challenge of predicting color and depth behind the visible content of an image. Our approach aims at building up a Layered Depth Image (LDI) from a single RGB input, which is an efficient representation…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

Image outpainting technology generates visually plausible content regardless of authenticity, making it unreliable to be applied in practice. Thus, we propose a reliable image outpainting task, introducing the sparse depth from LiDARs to…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

Guided sparse depth upsampling aims to upsample an irregularly sampled sparse depth map when an aligned high-resolution color image is given as guidance. Many neural networks have been designed for this task. However, they often ignore the…

Learning to reconstruct depths in a single image by watching unlabeled videos via deep convolutional network (DCN) is attracting significant attention in recent years. In this paper, we introduce a surface normal representation for…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

We present three multi-scale similarity learning architectures, or DeepSim networks. These models learn pixel-level matching with a contrastive loss and are agnostic to the geometry of the considered scene. We establish a middle ground…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

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…