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

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

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…

Depth completion is a long-standing challenge in computer vision, where classification-based methods have made tremendous progress in recent years. However, most existing classification-based methods rely on pre-defined pixel-shared and…

Compressive Sensing (CS) is a new paradigm for the efficient acquisition of signals that have sparse representation in a certain domain. Traditionally, CS has provided numerous methods for signal recovery over an orthonormal basis. However,…

Depth completion aims to generate a dense depth map from the sparse depth map and aligned RGB image. However, current depth completion methods use extremely expensive 64-line LiDAR(about $100,000) to obtain sparse depth maps, which will…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

We develop an online probabilistic metric-semantic mapping approach for mobile robot teams relying on streaming RGB-D observations. The generated maps contain full continuous distributional information about the geometric surfaces and…

We introduce a novel framework for metric depth estimation that enhances pretrained diffusion-based monocular depth estimation (DB-MDE) models with stereo vision guidance. While existing DB-MDE methods excel at predicting relative depth,…

The rapid development of 3D technology and computer vision applications have motivated a thrust of methodologies for depth acquisition and estimation. However, most existing hardware and software methods have limited performance due to poor…

As an extension of orthogonal matching pursuit (OMP) improving the recovery performance of sparse signals, generalized OMP (gOMP) has recently been studied in the literature. In this paper, we present a new analysis of the gOMP algorithm…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

With the wide application of sparse ToF sensors in mobile devices, RGB image-guided sparse depth completion has attracted extensive attention recently, but still faces some problems. First, the fusion of multimodal information requires more…

We present a novel method for accurate and efficient up- sampling of sparse depth data, guided by high-resolution imagery. Our approach goes beyond the use of intensity cues only and additionally exploits object boundary cues through…

Monocular Depth Estimation (MDE) aims to predict pixel-wise depth given a single RGB image. For both, the convolutional as well as the recent attention-based models, encoder-decoder-based architectures have been found to be useful due to…

We present GLIMPSE - Gravitational Lensing Inversion and MaPping with Sparse Estimators - a new algorithm to generate density reconstructions in three dimensions from photometric weak lensing measurements. This is an extension of earlier…

Depth estimation is a cornerstone for autonomous driving, yet acquiring per-pixel depth ground truth for supervised learning is challenging. Self-Supervised Surround Depth Estimation (SSSDE) from consecutive images offers an economical…

Recently, Gaussian Splatting (GS) has shown great potential for urban scene reconstruction in the field of autonomous driving. However, current urban scene reconstruction methods often depend on multimodal sensors as inputs, \textit{i.e.}…

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,…

Sparse signal recovery problems from noisy linear measurements appear in many areas of wireless communications. In recent years, deep learning (DL) based approaches have attracted interests of researchers to solve the sparse linear inverse…

Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…