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

Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…

Recently, convolutional neural networks (CNNs) have shown great success on the task of monocular depth estimation. A fundamental yet unanswered question is: how CNNs can infer depth from a single image. Toward answering this question, we…

Depth estimation is a traditional computer vision task, which plays a crucial role in understanding 3D scene geometry. Recently, deep-convolutional-neural-networks based methods have achieved promising results in the monocular depth…

Monocular normal estimation aims to estimate the normal map from a single RGB image of an object under arbitrary lights. Existing methods rely on deep models to directly predict normal maps. However, they often suffer from 3D misalignment:…

Dense depth estimation and 3D reconstruction of a surgical scene are crucial steps in computer assisted surgery. Recent work has shown that depth estimation from a stereo images pair could be solved with convolutional neural networks.…

This paper proposes using a sparse-structured multivariate Gaussian to provide a closed-form approximator for the output of probabilistic ensemble models used for dense image prediction tasks. This is achieved through a convolutional neural…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Depth map enhancement using paired high-resolution RGB images offers a cost-effective solution for improving low-resolution depth data from lightweight ToF sensors. Nevertheless, naively adopting a depth estimation pipeline to fuse the two…

Deep neural networks (DNNs) have shown to provide superb performance in many real life applications, but their large computation cost and storage requirement have prevented them from being deployed to many edge and internet-of-things (IoT)…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Sparse model is widely used in hyperspectral image classification.However, different of sparsity and regularization parameters has great influence on the classification results.In this paper, a novel adaptive sparse deep network based on…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

Monocular depth estimation (MDE) aims to transform an RGB image of a scene into a pixelwise depth map from the same camera view. It is fundamentally ill-posed due to missing information: any single image can have been taken from many…

The raw depth image captured by the indoor depth sensor usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and limited distance range. The incomplete…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D…