相关论文: Decoder Modulation for Indoor Depth Completion

Relying on deep supervised or self-supervised learning, previous methods for depth completion from paired single image and sparse depth data have achieved impressive performance in recent years. However, facing a new environment where the…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

We propose a novel plug-and-play (PnP) module for improving depth prediction with taking arbitrary patterns of sparse depths as input. Given any pre-trained depth prediction model, our PnP module updates the intermediate feature map such…

Gated imaging is an emerging sensor technology for self-driving cars that provides high-contrast images even under adverse weather influence. It has been shown that this technology can even generate high-fidelity dense depth maps with…

Depth sensors are widely deployed across robotic platforms, and advances in fast, high-fidelity depth simulation have enabled robotic policies trained on depth observations to achieve robust sim-to-real transfer for a wide range of tasks.…

We propose a deep neural network architecture to infer dense depth from an image and a sparse point cloud. It is trained using a video stream and corresponding synchronized sparse point cloud, as obtained from a LIDAR or other range sensor,…

We propose a novel two-stage framework for sensor depth enhancement, called Perfecting Depth. This framework leverages the stochastic nature of diffusion models to automatically detect unreliable depth regions while preserving geometric…

Radio maps provide metrics such as power spectral density for every location in a geographic area and find numerous applications such as UAV communications, interference control, spectrum management, resource allocation, and network…

Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…

Given sparse depths and the corresponding RGB images, depth completion aims at spatially propagating the sparse measurements throughout the whole image to get a dense depth prediction. Despite the tremendous progress of deep-learning-based…

Monocular metric depth estimation (MMDE) is a crucial task to solve for indoor scene reconstruction on edge devices. Despite this importance, existing models are sensitive to factors such as boundary frequency of objects in the scene and…

Recently, it is increasingly popular to equip mobile RGB cameras with Time-of-Flight (ToF) sensors for active depth sensing. However, for off-the-shelf ToF sensors, one must tackle two problems in order to obtain high-quality depth with…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

Spatial pyramid pooling module or encode-decoder structure are used in deep neural networks for semantic segmentation task. The former networks are able to encode multi-scale contextual information by probing the incoming features with…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

In this paper, we propose an end-to-end deep learning network named 3dDepthNet, which produces an accurate dense depth image from a single pair of sparse LiDAR depth and color image for robotics and autonomous driving tasks. Based on the…

Depth cameras are a prominent perception system for robotics, especially when operating in natural unstructured environments. Industrial applications, however, typically involve reflective objects under harsh lighting conditions, a…