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

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

Correspondence estimation is one of the most widely researched and yet only partially solved area of computer vision with many applications in tracking, mapping, recognition of objects and environment. In this paper, we propose a novel way…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…

Current self-supervised methods for monocular depth estimation are largely based on deeply nested convolutional networks that leverage stereo image pairs or monocular sequences during a training phase. However, they often exhibit inaccurate…

With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelong learning approaches potentially offer significant cost…

Fake content has grown at an incredible rate over the past few years. The spread of social media and online platforms makes their dissemination on a large scale increasingly accessible by malicious actors. In parallel, due to the growing…

Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of…

Estimating depth from RGB images is a long-standing ill-posed problem, which has been explored for decades by the computer vision, graphics, and machine learning communities. Among the existing techniques, stereo matching remains one of the…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

Depth maps produced by consumer-grade sensors suffer from inaccurate measurements and missing data from either system or scene-specific sources. Data-driven denoising algorithms can mitigate such problems. However, they require vast amounts…

Image based rendering is a fundamental problem in computer vision and graphics. Modern techniques often rely on depth image for the 3D construction. However for most of the existing depth cameras, the large and unpredictable noises can be…

We present a method to estimate depth of a dynamic scene, containing arbitrary moving objects, from an ordinary video captured with a moving camera. We seek a geometrically and temporally consistent solution to this underconstrained…

Low-cost consumer depth cameras and deep learning have enabled reasonable 3D hand pose estimation from single depth images. In this paper, we present an approach that estimates 3D hand pose from regular RGB images. This task has far more…

Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…