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

In the stereo matching task, matching cost aggregation is crucial in both traditional methods and deep neural network models in order to accurately estimate disparities. We propose two novel neural net layers, aimed at capturing local and…

The integral image, an intermediate image representation, has found extensive use in multi-scale local feature detection algorithms, such as Speeded-Up Robust Features (SURF), allowing fast computation of rectangular features at constant…

Depth estimation from stereo images remains a challenge even though studied for decades. The KITTI benchmark shows that the state-of-the-art solutions offer accurate depth estimation, but are still computationally complex and often require…

Disparity estimation is a difficult problem in stereo vision because the correspondence technique fails in images with textureless and repetitive regions. Recent body of work using deep convolutional neural networks (CNN) overcomes this…

In this paper, we present a decomposition model for stereo matching to solve the problem of excessive growth in computational cost (time and memory cost) as the resolution increases. In order to reduce the huge cost of stereo matching at…

Generalized sparse matrix-matrix multiplication (or SpGEMM) is a key primitive for many high performance graph algorithms as well as for some linear solvers, such as algebraic multigrid. Here we show that SpGEMM also yields efficient…

A major focus of recent developments in stereo vision has been on how to obtain accurate dense disparity maps in passive stereo vision. Active vision systems enable more accurate estimations of dense disparity compared to passive stereo.…

Sparse General Matrix Multiply (SpGEMM) is key for various High-Performance Computing (HPC) applications such as genomics and graph analytics. Using the semiring abstraction, many algorithms can be formulated as SpGEMM, allowing…

This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…

Top-K SpMV is a key component of similarity-search on sparse embeddings. This sparse workload does not perform well on general-purpose NUMA systems that employ traditional caching strategies. Instead, modern FPGA accelerator cards have a…

Sparse Matrix-Matrix Multiplication (SpMM) is a fundamental operation in graph computing and analytics. However, the irregularity of real-world graphs poses significant challenges to achieving efficient SpMM operation for graph data on…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of…

This paper reports a CPU-level real-time stereo matching method for surgical images (10 Hz on 640 * 480 image with a single core of i5-9400). The proposed method is built on the fast ''dense inverse searching'' algorithm, which estimates…

Both self-supervised depth estimation and Structure-from-Motion (SfM) recover scene depth from RGB videos. Despite sharing a similar objective, the two approaches are disconnected. Prior works of self-supervision backpropagate losses…

Depth perception is a key component for autonomous systems that interact in the real world, such as delivery robots, warehouse robots, and self-driving cars. Tasks in autonomous robotics such as 3D object recognition, simultaneous…

3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…

Depth sensing is a critical function for robotic tasks such as localization, mapping and obstacle detection. There has been a significant and growing interest in depth estimation from a single RGB image, due to the relatively low cost and…

Image retrieval systems conventionally use a two-stage paradigm, leveraging global features for initial retrieval and local features for reranking. However, the scalability of this method is often limited due to the significant storage and…

Stereo matching has become an increasingly important component of modern autonomous systems. Developing deep learning-based stereo matching models that deliver high accuracy while operating in real-time continues to be a major challenge in…