相关论文: Deep Surface Normal Estimation with Hierarchical R…

Reconstruction of high-fidelity 3D objects or scenes is a fundamental research problem. Recent advances in RGB-D fusion have demonstrated the potential of producing 3D models from consumer-level RGB-D cameras. However, due to the discrete…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

RGB-based surface anomaly detection methods have advanced significantly. However, certain surface anomalies remain practically invisible in RGB alone, necessitating the incorporation of 3D information. Existing approaches that employ…

RGB-D semantic segmentation has attracted increasing attention over the past few years. Existing methods mostly employ homogeneous convolution operators to consume the RGB and depth features, ignoring their intrinsic differences. In fact,…

Most of the existing handcrafted and learning-based local descriptors are still at best approximately invariant to affine image transformations, often disregarding deformable surfaces. In this paper, we take one step further by proposing a…

Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…

Task-specific data-fusion networks have marked considerable achievements in urban scene parsing. Among these networks, our recently proposed RoadFormer successfully extracts heterogeneous features from RGB images and surface normal maps and…

Reconstructing ghosting-free high dynamic range (HDR) images of dynamic scenes from a set of multi-exposure images is a challenging task, especially with large object motion and occlusions, leading to visible artifacts using existing…

Deep convolutional networks (CNN) can achieve impressive results on RGB scene recognition thanks to large datasets such as Places. In contrast, RGB-D scene recognition is still underdeveloped in comparison, due to two limitations of RGB-D…

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion…

The high performance of RGB-D based road segmentation methods contrasts with their rare application in commercial autonomous driving, which is owing to two reasons: 1) the prior methods cannot achieve high inference speed and high accuracy…

Unsupervised anomaly detection methods are at the forefront of industrial anomaly detection efforts and have made notable progress. Previous work primarily used 2D information as input, but multi-modal industrial anomaly detection based on…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

Salient object detection on RGB-D images is an active topic in computer vision. Although the existing methods have achieved appreciable performance, there are still some challenges. The locality of convolutional neural network requires that…

The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable and real-time capable. To this end, we present a novel…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

Point normal, as an intrinsic geometric property of 3D objects, not only serves conventional geometric tasks such as surface consolidation and reconstruction, but also facilitates cutting-edge learning-based techniques for shape analysis…

We present a novel method to estimate the surface normal of an object in an ambient light environment using RGB and event cameras. Modern photometric stereo methods rely on an RGB camera, mainly in a dark room, to avoid ambient…

Many mobile manufacturers recently have adopted Dual-Pixel (DP) sensors in their flagship models for faster auto-focus and aesthetic image captures. Despite their advantages, research on their usage for 3D facial understanding has been…