相关论文: Balanced Depth Completion between Dense Depth Infe…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…

Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…

Feature matching is a challenging computer vision task that involves finding correspondences between two images of a 3D scene. In this paper we consider the dense approach instead of the more common sparse paradigm, thus striving to find…

Feature-based visual simultaneous localization and mapping (SLAM) methods only estimate the depth of extracted features, generating a sparse depth map. To solve this sparsity problem, depth completion tasks that estimate a dense depth from…

Dense depth recovery is crucial in autonomous driving, serving as a foundational element for obstacle avoidance, 3D object detection, and local path planning. Adverse weather conditions, including haze, dust, rain, snow, and darkness,…

Dense depth map capture is challenging in existing active sparse illumination based depth acquisition techniques, such as LiDAR. Various techniques have been proposed to estimate a dense depth map based on fusion of the sparse depth map…

Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…

Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth sensors such as LiDARs are often heavy, expensive and can only…

The problem of depth completion involves predicting a dense depth image from a single sparse depth map and an RGB image. Unsupervised depth completion methods have been proposed for various datasets where ground truth depth data is…

The main function of depth completion is to compensate for an insufficient and unpredictable number of sparse depth measurements of hardware sensors. However, existing research on depth completion assumes that the sparsity -- the number of…

This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…

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…

We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Interpolation of sparse pixel information towards a dense target resolution finds its application across multiple disciplines in computer vision. State-of-the-art interpolation of motion fields applies model-based interpolation that makes…

LiDAR depth-only completion is a challenging task to estimate dense depth maps only from sparse measurement points obtained by LiDAR. Even though the depth-only methods have been widely developed, there is still a significant performance…

Constructing an occupancy representation of the environment is a fundamental problem for robot autonomy. Many accurate and efficient methods exist that address this problem but most assume that the occupancy states of different elements in…

Mapping the underlying density field, including non-visible dark matter, using weak gravitational lensing measurements is now a standard tool in cosmology. Due to its importance to the science results of current and upcoming surveys, the…