相关论文: Sparse Auxiliary Networks for Unified Monocular De…

Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular…

Depth completion involves recovering a dense depth map from a sparse map and an RGB image. Recent approaches focus on utilizing color images as guidance images to recover depth at invalid pixels. However, color images alone are not enough…

Semantic segmentation of SAR images has garnered significant attention in remote sensing due to the immunity of SAR sensors to cloudy weather and light conditions. Nevertheless, SAR imagery lacks detailed information and is plagued by…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires sequential data from…

Accurate depth estimation from images is a fundamental task in many applications including scene understanding and reconstruction. Existing solutions for depth estimation often produce blurry approximations of low resolution. This paper…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

This paper introduces a method based on a deep neural network (DNN) that is perfectly capable of processing radar data from extremely thinned radar apertures. The proposed DNN processing can provide both aliasing-free radar imaging and…

In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

Autonomous Micro Aerial Vehicles (MAVs) gained tremendous attention in recent years. Autonomous flight in indoor requires a dense depth map for navigable space detection which is the fundamental component for autonomous navigation. In this…

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images…

Artificial Neural Networks (ANNs) have emerged as hot topics in the research community. Despite the success of ANNs, it is challenging to train and deploy modern ANNs on commodity hardware due to the ever-increasing model size and the…

Deep neural networks (DNNs) have emerged as key enablers of machine learning. Applying larger DNNs to more diverse applications is an important challenge. The computations performed during DNN training and inference are dominated by…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

Depth prediction is a critical problem in robotics applications especially autonomous driving. Generally, depth prediction based on binocular stereo matching and fusion of monocular image and laser point cloud are two mainstream methods.…

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,…