相关论文: A Learned Stereo Depth System for Robotic Manipula…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…

Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…

We present the design of a productionized end-to-end stereo depth sensing system that does pre-processing, online stereo rectification, and stereo depth estimation with a fallback to monocular depth estimation when rectification is…

Depth from defocus (DfD) and stereo matching are two most studied passive depth sensing schemes. The techniques are essentially complementary: DfD can robustly handle repetitive textures that are problematic for stereo matching whereas…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

Traditional stereo algorithms have focused their efforts on reconstruction quality and have largely avoided prioritizing for run time performance. Robots, on the other hand, require quick maneuverability and effective computation to observe…

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…

High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of…

Accurate stereo depth estimation plays a critical role in various 3D tasks in both indoor and outdoor environments. Recently, learning-based multi-view stereo methods have demonstrated competitive performance with a limited number of views.…

It is well known that the passive stereo system cannot adapt well to weak texture objects, e.g., white walls. However, these weak texture targets are very common in indoor environments. In this paper, we present a novel stereo system, which…

We present an overview of the methodology used to build a new stereo vision solution that is suitable for System on Chip. This new solution was developed to bring computer vision capability to embedded devices that live in a power…

We consider the problem of reconstructing a dynamic scene observed from a stereo camera. Most existing methods for depth from stereo treat different stereo frames independently, leading to temporally inconsistent depth predictions. Temporal…

Recently, end-to-end trainable deep neural networks have significantly improved stereo depth estimation for perspective images. However, 360{\deg} images captured under equirectangular projection cannot benefit from directly adopting…

Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…

We introduce a novel framework for training deep stereo networks effortlessly and without any ground-truth. By leveraging state-of-the-art neural rendering solutions, we generate stereo training data from image sequences collected with a…

Stereo is a prominent technique to infer dense depth maps from images, and deep learning further pushed forward the state-of-the-art, making end-to-end architectures unrivaled when enough data is available for training. However, deep…

This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and non-learning ones, consume too much computational resource on…

Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…

End-to-end deep-learning networks recently demonstrated extremely good perfor- mance for stereo matching. However, existing networks are difficult to use for practical applications since (1) they are memory-hungry and unable to process even…