相关论文: RGB-D Local Implicit Function for Depth Completion…

Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…

Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…

In the realm of computer vision, the integration of advanced techniques into the processing of RGB-D camera inputs poses a significant challenge, given the inherent complexities arising from diverse environmental conditions and varying…

We present RGB-D-Fusion, a multi-modal conditional denoising diffusion probabilistic model to generate high resolution depth maps from low-resolution monocular RGB images of humanoid subjects. RGB-D-Fusion first generates a low-resolution…

We propose a physically-motivated deep learning framework to solve a general version of the challenging indoor lighting estimation problem. Given a single LDR image with a depth map, our method predicts spatially consistent lighting at any…

Depth images have a wide range of applications, such as 3D reconstruction, autonomous driving, augmented reality, robot navigation, and scene understanding. Commodity-grade depth cameras are hard to sense depth for bright, glossy,…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D…

Chronic wound monitoring and management require accurate and efficient wound measurement methods. This paper presents a fast, non-invasive 3D wound measurement algorithm based on RGB-D imaging. The method combines RGB-D odometry with…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…

The use of RGB-D information for salient object detection has been extensively explored in recent years. However, relatively few efforts have been put towards modeling salient object detection in real-world human activity scenes with RGBD.…

The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects. We propose using neural radiance fields…

Generalized metric depth understanding is critical for precise vision-guided robotics, which current state-of-the-art (SOTA) vision-encoders do not support. To address this, we propose Vanishing Depth, a self-supervised training approach…

Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…

Despite the substantial progress in deep learning, its adoption in industrial robotics projects remains limited, primarily due to challenges in data acquisition and labeling. Previous sim2real approaches using domain randomization require…

It has been shown that learning radiance fields with depth rendering and depth supervision can effectively promote the quality and convergence of view synthesis. However, this paradigm requires input RGB-D sequences to be synchronized,…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…