相关论文: Learned Semantic Multi-Sensor Depth Map Fusion

In this paper, we present a learning based approach to depth fusion, i.e., dense 3D reconstruction from multiple depth images. The most common approach to depth fusion is based on averaging truncated signed distance functions, which was…

To reconstruct a 3D scene from a set of calibrated views, traditional multi-view stereo techniques rely on two distinct stages: local depth maps computation and global depth maps fusion. Recent studies concentrate on deep neural…

Image fusion methods and metrics for their evaluation have conventionally used pixel-based or low-level features. However, for many applications, the aim of image fusion is to effectively combine the semantic content of the input images.…

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…

Many hand-held or mixed reality devices are used with a single sensor for 3D reconstruction, although they often comprise multiple sensors. Multi-sensor depth fusion is able to substantially improve the robustness and accuracy of 3D…

This paper presents a real-time online vision framework to jointly recover an indoor scene's 3D structure and semantic label. Given noisy depth maps, a camera trajectory, and 2D semantic labels at train time, the proposed deep neural…

We present a novel online depth map fusion approach that learns depth map aggregation in a latent feature space. While previous fusion methods use an explicit scene representation like signed distance functions (SDFs), we propose a learned…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

The best way to combine the results of deep learning with standard 3D reconstruction pipelines remains an open problem. While systems that pass the output of traditional multi-view stereo approaches to a network for regularisation or…

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

We introduce a learning-based depth map fusion framework that accepts a set of depth and confidence maps generated by a Multi-View Stereo (MVS) algorithm as input and improves them. This is accomplished by integrating volumetric visibility…

Dense 3D reconstruction from a stream of depth images is the key to many mixed reality and robotic applications. Although methods based on Truncated Signed Distance Function (TSDF) Fusion have advanced the field over the years, the TSDF…

While depth sensors are becoming increasingly popular, their spatial resolution often remains limited. Depth super-resolution therefore emerged as a solution to this problem. Despite much progress, state-of-the-art techniques suffer from…

Limited by the cost and technology, the resolution of depth map collected by depth camera is often lower than that of its associated RGB camera. Although there have been many researches on RGB image super-resolution (SR), a major problem…

Event cameras are bio-inspired sensors that offer advantages over traditional cameras. They operate asynchronously, sampling the scene at microsecond resolution and producing a stream of brightness changes. This unconventional output has…

Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

In addition to color and textural information, geometry provides important cues for 3D scene reconstruction. However, current reconstruction methods only include geometry at the feature level thus not fully exploiting the geometric…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…