相关论文: Deterministic Guided LiDAR Depth Map Completion

We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

In this paper, we present a method to optimize Gaussian splatting with a limited number of images while avoiding overfitting. Representing a 3D scene by combining numerous Gaussian splats has yielded outstanding visual quality. However, it…

Guided image super-resolution (GISR) aims to obtain a high-resolution (HR) target image by enhancing the spatial resolution of a low-resolution (LR) target image under the guidance of a HR image. However, previous model-based methods mainly…

Interpolation of sparse pixel information towards a dense target resolution finds its application across multiple disciplines in computer vision. State-of-the-art interpolation of motion fields applies model-based interpolation that makes…

Depth completion upgrades sparse depth measurements into dense depth maps guided by a conventional image. Existing methods for this highly ill-posed task operate in tightly constrained settings and tend to struggle when applied to images…

Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…

Depth completion is a pivotal challenge in computer vision, aiming at reconstructing the dense depth map from a sparse one, typically with a paired RGB image. Existing learning based models rely on carefully prepared but limited data,…

Consumer-level depth cameras and depth sensors embedded in mobile devices enable numerous applications, such as AR games and face identification. However, the quality of the captured depth is sometimes insufficient for 3D reconstruction,…

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…

Previous image based relighting methods require capturing multiple images to acquire high frequency lighting effect under different lighting conditions, which needs nontrivial effort and may be unrealistic in certain practical use…

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…

Depth completion, which estimates dense depth from sparse LiDAR and RGB images, has demonstrated outstanding performance in well-lit conditions. However, due to the limitations of RGB sensors, existing methods often struggle to achieve…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Guided depth map super-resolution (GDSR), which aims to reconstruct a high-resolution (HR) depth map from a low-resolution (LR) observation with the help of a paired HR color image, is a longstanding and fundamental problem, it has…

In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume…

In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…

In Inverse Synthetic Aperture Radar (ISAR), random missing entries of the received radar echo matrix deteriorate the imaging quality, compromising target distinction from the background. Compressive sensing techniques or matrix completion…