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LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…

Modern SoC-FPGA that consists of FPGA with embedded ARM cores is being popularized as an embedded vision system platform. However, the design approach of SoC-FPGA applications still follows traditional hardware-software separate workflow,…

The generalization and performance of stereo matching networks are limited due to the domain gap of the existing synthetic datasets and the sparseness of GT labels in the real datasets. In contrast, monocular depth estimation has achieved…

Traditional stereo matching algorithms like Semi-Global Block Matching (SGBM) with Weighted Least Squares (WLS) filtering offer speed advantages over neural networks for UAV applications, generating disparity maps in approximately 0.5…

In this paper, we present TANDEM a real-time monocular tracking and dense mapping framework. For pose estimation, TANDEM performs photometric bundle adjustment based on a sliding window of keyframes. To increase the robustness, we propose a…

Generic matrix multiplication (GEMM) and one-dimensional convolution/cross-correlation (CONV) kernels often constitute the bulk of the compute- and memory-intensive processing within image/audio recognition and matching systems. We propose…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Stereo matching methods rely on dense pixel-wise ground truth labels, which are laborious to obtain, especially for real-world datasets. The scarcity of labeled data and domain gaps between synthetic and real-world images also pose notable…

Graph Neural Networks (GNNs) have achieved significant improvements in various domains. Sparse Matrix-Matrix multiplication (SpMM) is a fundamental operator in GNNs, which performs a multiplication between a sparse matrix and a dense…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

One of the key problems in 3D object detection is to reduce the accuracy gap between methods based on LiDAR sensors and those based on monocular cameras. A recently proposed framework for monocular 3D detection based on Pseudo-Stereo has…

In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of SLAM system has…

Stereo matching is an important problem in computer vision which has drawn tremendous research attention for decades. Recent years, data-driven methods with convolutional neural networks (CNNs) are continuously pushing stereo matching to…

Depth sensing is of paramount importance for unmanned aerial and autonomous vehicles. Nonetheless, contemporary monocular depth estimation methods employing complex deep neural networks within Convolutional Neural Networks are inadequately…

The maximum entropy method (MEM) is a well known deconvolution technique in radio-interferometry. This method solves a non-linear optimization problem with an entropy regularization term. Other heuristics such as CLEAN are faster but highly…

Deep stereo matching has made significant progress in recent years. However, state-of-the-art methods are based on expensive 4D cost volume, which limits their use in real-world applications. To address this issue, 3D correlation maps and…

We introduce Stereo Anywhere, a novel stereo-matching framework that combines geometric constraints with robust priors from monocular depth Vision Foundation Models (VFMs). By elegantly coupling these complementary worlds through a…

Graph similarity computation is one of the core operations in many graph-based applications, such as graph similarity search, graph database analysis, graph clustering, etc. Since computing the exact distance/similarity between two graphs…

We propose a novel stereo-confidence that can be measured externally to various stereo-matching networks, offering an alternative input modality choice of the cost volume for learning-based approaches, especially in safety-critical systems.…

Stereo vision is essential for many applications. Currently, the synchronization of the streams coming from two cameras is done using mostly hardware. A software-based synchronization method would reduce the cost, weight and size of the…