相关论文: Single Storage Semi-Global Matching for Real Time …

Efficient and robust 3D scene representation is crucial in autonomous driving, robotics, and related fields. While RGB images provide valuable content for 3D reconstruction, other modalities like thermal or depth can enable additional…

Depth from defocus (DfD) and stereo matching are two most studied passive depth sensing schemes. The techniques are essentially complementary: DfD can robustly handle repetitive textures that are problematic for stereo matching whereas…

Stereo matching is crucial for binocular stereo vision. Existing methods mainly focus on simple disparity map fusion to improve stereo matching, which require multiple dense or sparse disparity maps. In this paper, we propose a simple yet…

We present StereoWorld, a camera-conditioned stereo world model that jointly learns appearance and binocular geometry for end-to-end stereo video generation.Unlike monocular RGB or RGBD approaches, StereoWorld operates exclusively within…

Sparse matrix multiplication is traditionally performed in memory and scales to large matrices using the distributed memory of multiple nodes. In contrast, we scale sparse matrix multiplication beyond memory capacity by implementing sparse…

In this paper, we tackle the accurate and consistent Structure from Motion (SfM) problem, in particular camera registration, far exceeding the memory of a single computer in parallel. Different from the previous methods which drastically…

Learning-based stereo matching has recently achieved promising results, yet still suffers difficulties in establishing reliable matches in weakly matchable regions that are textureless, non-Lambertian, or occluded. In this paper, we address…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

Singular value decomposition (SVD) is widely used in wireless systems, including multiple-input multiple-output (MIMO) processing and dimension reduction in distributed MIMO (D-MIMO). However, the iterative nature of decomposition methods…

Stereo image matching is a fundamental task in computer vision, photogrammetry and remote sensing, but there is an almost unexplored field, i.e., polygon matching, which faces the following challenges: disparity discontinuity, scale…

We propose an approach to reconstruct dense three-dimensional (3D) model of tissue surface from stereo optical videos in real-time, the basic idea of which is to first extract 3D information from video frames by using stereo matching, and…

Sparse generalized matrix-matrix multiplication (SpGEMM) is a fundamental operation for real-world network analysis. With the increasing size of real-world networks, the single-machine-based SpGEMM approach cannot perform SpGEMM on…

Stereo disparity estimation is crucial for obtaining depth information in robot-assisted minimally invasive surgery (RAMIS). While current deep learning methods have made significant advancements, challenges remain in achieving an optimal…

We revisit the problem of visual depth estimation in the context of autonomous vehicles. Despite the progress on monocular depth estimation in recent years, we show that the gap between monocular and stereo depth accuracy remains large$-$a…

We introduce the first end-to-end learning-based solution to near-field Photometric Stereo (PS), where the light sources are close to the object of interest. This setup is especially useful for reconstructing large immobile objects. Our…

Smoothing filter is the method of choice for image preprocessing and pattern recognition. We present a new concurrent method for smoothing 2D object in binary case. Proposed method provides a parallel computation while preserving the…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

We propose a fine-grained hypergraph model for sparse matrix-matrix multiplication (SpGEMM), a key computational kernel in scientific computing and data analysis whose performance is often communication bound. This model correctly describes…

Many applications of stereo depth estimation in robotics require the generation of accurate disparity maps in real time under significant computational constraints. Current state-of-the-art algorithms force a choice between either…

Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…