相关论文: Deterministic Guided LiDAR Depth Map Completion

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

RGB-D scene parsing methods effectively capture both semantic and geometric features of the environment, demonstrating great potential under challenging conditions such as extreme weather and low lighting. However, existing RGB-D scene…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Images taken under the low-light condition often contain blur and saturated pixels at the same time. Deblurring images with saturated pixels is quite challenging. Because of the limited dynamic range, the saturated pixels are usually…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

This work introduces an evaluation benchmark for depth estimation and completion using high-resolution depth measurements with angular resolution of up to 25" (arcsecond), akin to a 50 megapixel camera with per-pixel depth available.…

In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…

RGB-guided depth completion aims at predicting dense depth maps from sparse depth measurements and corresponding RGB images, where how to effectively and efficiently exploit the multi-modal information is a key issue. Guided dynamic…

Dense 3D reconstruction has many applications in automated driving including automated annotation validation, multimodal data augmentation, providing ground truth annotations for systems lacking LiDAR, as well as enhancing auto-labeling…

Integrating an RGB camera into a ToF imaging system has become a significant technique for perceiving the real world. The RGB guided ToF imaging system is crucial to several applications, including face anti-spoofing, saliency detection,…

Near field depth estimation around a self driving car is an important function that can be achieved by four wide angle fisheye cameras having a field of view of over 180. Depth estimation based on convolutional neural networks (CNNs)…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

Depth completion involves predicting dense depth maps from sparse LiDAR inputs. However, sparse depth annotations from sensors limit the availability of dense supervision, which is necessary for learning detailed geometric features. In this…

Sparse depth measurements are widely available in many applications such as augmented reality, visual inertial odometry and robots equipped with low cost depth sensors. Although such sparse depth samples work well for certain applications…

We present a method to infer a dense depth map from a color image and associated sparse depth measurements. Our main contribution lies in the design of an annealing process for determining co-visibility (occlusions, disocclusions) and the…

We propose a method for depth estimation under different illumination conditions, i.e., day and night time. As photometry is uninformative in regions under low-illumination, we tackle the problem through a multi-sensor fusion approach,…

The performance of image based stereo estimation suffers from lighting variations, repetitive patterns and homogeneous appearance. Moreover, to achieve good performance, stereo supervision requires sufficient densely-labeled data, which are…