相关论文: Neural RGB->D Sensing: Depth and Uncertainty from …

Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…

Monocular depth estimation (MDE) from thermal images is a crucial technology for robotic systems operating in challenging conditions such as fog, smoke, and low light. The limited availability of labeled thermal data constrains the…

We present DeepPerimeter, a deep learning based pipeline for inferring a full indoor perimeter (i.e. exterior boundary map) from a sequence of posed RGB images. Our method relies on robust deep methods for depth estimation and wall…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

There is an emerging trend of using neural implicit functions for map representation in Simultaneous Localization and Mapping (SLAM). Some pioneer works have achieved encouraging results on RGB-D SLAM. In this paper, we present a dense RGB…

Depth sensing is a critical function for robotic tasks such as localization, mapping and obstacle detection. There has been a significant and growing interest in depth estimation from a single RGB image, due to the relatively low cost and…

We introduce a method that can learn to predict scene-level implicit functions for 3D reconstruction from posed RGBD data. At test time, our system maps a previously unseen RGB image to a 3D reconstruction of a scene via implicit functions.…

To obtain high-resolution depth maps, some previous learning-based multi-view stereo methods build a cost volume pyramid in a coarse-to-fine manner. These approaches leverage fixed depth range hypotheses to construct cascaded plane sweep…

Depth information available from an RGB-D camera can be useful in segmenting salient objects when figure/ground cues from RGB channels are weak. This has motivated the development of several RGB-D saliency datasets and algorithms that use…

Monocular depth estimation is critical for endoscopists to perform spatial perception and 3D navigation of surgical sites. However, most of the existing methods ignore the important geometric structural consistency, which inevitably leads…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

Event cameras are sensors inspired by biological systems that specialize in capturing changes in brightness. These emerging cameras offer many advantages over conventional frame-based cameras, including high dynamic range, high frame rates,…

We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a monocular camera with known intrinsic calibration, our network…

Understanding the 3D structure of a scene is of vital importance, when it comes to developing fully autonomous robots. To this end, we present a novel deep learning based framework that estimates depth, surface normals and surface curvature…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

Computational image reconstruction algorithms generally produce a single image without any measure of uncertainty or confidence. Regularized Maximum Likelihood (RML) and feed-forward deep learning approaches for inverse problems typically…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

Monocular depth estimation is very challenging because clues to the exact depth are incomplete in a single RGB image. To overcome the limitation, deep neural networks rely on various visual hints such as size, shade, and texture extracted…

We propose learning a depth covariance function with applications to geometric vision tasks. Given RGB images as input, the covariance function can be flexibly used to define priors over depth functions, predictive distributions given…