相关论文: Probabilistic Multi-View Fusion of Active Stereo D…

We present a novel deep-learning-based method for Multi-View Stereo. Our method estimates high resolution and highly precise depth maps iteratively, by traversing the continuous space of feasible depth values at each pixel in a binary…

Multi-view depth estimation plays a critical role in reconstructing and understanding the 3D world. Recent learning-based methods have made significant progress in it. However, multi-view depth estimation is fundamentally a…

Active stereo vision is important in reconstructing objects without obvious textures. However, it is still very challenging to extract and match the projected patterns from two camera views automatically and robustly. In this paper, we…

Depth estimation is essential for various important real-world applications such as autonomous driving. However, it suffers from severe performance degradation in high-velocity scenario since traditional cameras can only capture blurred…

Real-time dense scene reconstruction during unstable camera motions is crucial for robotics, yet current RGB-D SLAM systems fail when cameras experience large viewpoint changes, fast motions, or sudden shaking. Classical optimization-based…

Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…

In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…

Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

While recent camera-only 3D detection methods leverage multiple timesteps, the limited history they use significantly hampers the extent to which temporal fusion can improve object perception. Observing that existing works' fusion of…

Accurate 6D pose estimation is essential for robotic manipulation in industrial environments. Existing pipelines typically rely on off-the-shelf object detectors followed by cropping and pose refinement, but their performance degrades under…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisely with given tasks.…

In this paper, we propose a dense depth estimation pipeline for multiview 360{\deg} images. The proposed pipeline leverages a spherical camera model that compensates for radial distortion in 360{\deg} images. The key contribution of this…

We propose SparseFusion, a sparse view 3D reconstruction approach that unifies recent advances in neural rendering and probabilistic image generation. Existing approaches typically build on neural rendering with re-projected features but…

Underwater intervention is an important capability in several marine domains, with numerous industrial, scientific, and defense applications. However, existing perception systems used during intervention operations rely on data from optical…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors with dense volumetric occupancy mapping. Hereby depth…

Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…