相关论文: Monocular Depth Estimation for Soft Visuotactile S…

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further…

Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Monocular 3D object detection is an essential task in computer vision, and it has several applications in robotics and virtual reality. However, 3D object detectors are typically trained in a fully supervised way, relying extensively on 3D…

Self-supervised monocular depth estimation has been a subject of intense study in recent years, because of its applications in robotics and autonomous driving. Much of the recent work focuses on improving depth estimation by increasing…

Monocular depth estimation is an ill-posed problem as the same 2D image can be projected from infinite 3D scenes. Although the leading algorithms in this field have reported significant improvement, they are essentially geared to the…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…

Unsupervised deep learning methods have shown promising performance for single-image depth estimation. Since most of these methods use binocular stereo pairs for self-supervision, the depth range is generally limited. Small-baseline stereo…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

Depth estimation from a single image is an active research topic in computer vision. The most accurate approaches are based on fully supervised learning models, which rely on a large amount of dense and high-resolution (HR) ground-truth…

Depth is a vital piece of information for autonomous vehicles to perceive obstacles. Due to the relatively low price and small size of monocular cameras, depth estimation from a single RGB image has attracted great interest in the research…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used…

Depth from a monocular video can enable billions of devices and robots with a single camera to see the world in 3D. In this paper, we present an approach with a differentiable flow-to-depth layer for video depth estimation. The model…

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…

Monocular depth estimation is critical for endoscopists to perform spatial perception and 3D navigation of surgical sites. However, most of the existing methods ignore the important geometric structural consistency, which inevitably leads…

Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…

Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

We propose a depth map inference system from monocular videos based on a novel dataset for navigation that mimics aerial footage from gimbal stabilized monocular camera in rigid scenes. Unlike most navigation datasets, the lack of rotation…