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

In this paper we present a novel approach for depth map enhancement from an RGB-D video sequence. The basic idea is to exploit the shading information in the color image. Instead of making assumption about surface albedo or controlled…

The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…

Real-time estimation of actual object depth is an essential module for various autonomous system tasks such as 3D reconstruction, scene understanding and condition assessment. During the last decade of machine learning, extensive deployment…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

The objective of this work is to achieve sensorless reconstruction of a 3D volume from a set of 2D freehand ultrasound images with deep implicit representation. In contrast to the conventional way that represents a 3D volume as a discrete…

We introduce a new RGB-D object dataset captured in the wild called WildRGB-D. Unlike most existing real-world object-centric datasets which only come with RGB capturing, the direct capture of the depth channel allows better 3D annotations…

We propose the first approach to the problem of inferring the depth map of a human hand based on a single RGB image. We achieve this with a Convolutional Neural Network (CNN) that employs a stacked hourglass model as its main building…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

Recent advances in implicit neural representations and differentiable rendering make it possible to simultaneously recover the geometry and materials of an object from multi-view RGB images captured under unknown static illumination.…

Conventional RGB-D salient object detection methods aim to leverage depth as complementary information to find the salient regions in both modalities. However, the salient object detection results heavily rely on the quality of captured…

An autonomous system's perception engine must provide an accurate understanding of the environment for it to make decisions. Deep learning based object detection networks experience degradation in the performance and robustness for small…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

Learning-based 3D reconstruction methods have shown impressive results. However, most methods require 3D supervision which is often hard to obtain for real-world datasets. Recently, several works have proposed differentiable rendering…

This paper presents a novel approach 4DRecons that takes a single camera RGB-D sequence of a dynamic subject as input and outputs a complete textured deforming 3D model over time. 4DRecons encodes the output as a 4D neural implicit surface…

The sensing and manipulation of transparent objects present a critical challenge in industrial and laboratory robotics. Conventional sensors face challenges in obtaining the full depth of transparent objects due to the refraction and…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

Ground-truth RGBD data are fundamental for a wide range of computer vision applications; however, those labeled samples are difficult to collect and time-consuming to produce. A common solution to overcome this lack of data is to employ…

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…