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

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

Since the advent of Neural Radiance Fields, novel view synthesis has received tremendous attention. The existing approach for the generalization of radiance field reconstruction primarily constructs an encoding volume from nearby source…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

Stereo-LiDAR fusion is a promising task in that we can utilize two different types of 3D perceptions for practical usage -- dense 3D information (stereo cameras) and highly-accurate sparse point clouds (LiDAR). However, due to their…

To navigate through urban roads, an automated vehicle must be able to perceive and recognize objects in a three-dimensional environment. A high-level contextual understanding of the surroundings is necessary to plan and execute accurate…

Visual localization plays an important role in many applications. However, due to the large appearance variations such as season and illumination changes, as well as weather and day-night variations, it's still a big challenge for robust…

Synthesizing accurate geometry and photo-realistic appearance of small scenes is an active area of research with compelling use cases in gaming, virtual reality, robotic-manipulation, autonomous driving, convenient product capture, and…

Reconstructing and understanding 3D structures from a limited number of images is a well-established problem in computer vision. Traditional methods usually break this task into multiple subtasks, each requiring complex transformations…

We propose spatially-adaptive normalization, a simple but effective layer for synthesizing photorealistic images given an input semantic layout. Previous methods directly feed the semantic layout as input to the deep network, which is then…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…