相关论文: Noise-Aware Unsupervised Deep Lidar-Stereo Fusion

The present Multi-view stereo (MVS) methods with supervised learning-based networks have an impressive performance comparing with traditional MVS methods. However, the ground-truth depth maps for training are hard to be obtained and are…

Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…

LiDAR sensors provide high-resolution 3D perception and long-range detection, making them indispensable for autonomous driving and robotics. However, their performance significantly degrades under adverse weather conditions such as snow,…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

Recent methods in stereo matching have continuously improved the accuracy using deep models. This gain, however, is attained with a high increase in computation cost, such that the network may not fit even on a moderate GPU. This issue…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

Advanced autonomous systems rely on multi-sensor fusion for safer and more robust perception. To enable effective fusion, calibrating directly from natural driving scenes (i.e., target-free) with high accuracy is crucial for precise…

Dense matching is crucial for 3D scene reconstruction since it enables the recovery of scene 3D geometry from image acquisition. Deep Learning (DL)-based methods have shown effectiveness in the special case of epipolar stereo disparity…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

Stereo matching, a critical step of 3D reconstruction, has fully shifted towards deep learning due to its strong feature representation of remote sensing images. However, ground truth for stereo matching task relies on expensive airborne…

We introduce DrummerNet, a drum transcription system that is trained in an unsupervised manner. DrummerNet does not require any ground-truth transcription and, with the data-scalability of deep neural networks, learns from a large unlabeled…

Deep learning (DL) has shown promise for faster, high quality accelerated MRI reconstruction. However, supervised DL methods depend on extensive amounts of fully-sampled (labeled) data and are sensitive to out-of-distribution (OOD) shifts,…

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…

Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

Depth estimation from a stereo image pair has become one of the most explored applications in computer vision, with most of the previous methods relying on fully supervised learning settings. However, due to the difficulty in acquiring…

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…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…