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

Stereo matching is one of the widely used techniques for inferring depth from stereo images owing to its robustness and speed. It has become one of the major topics of research since it finds its applications in autonomous driving, robotic…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Stereo matching serves as a cornerstone in 3D vision, aiming to establish pixel-wise correspondences between stereo image pairs for depth recovery. Despite remarkable progress driven by deep neural architectures, current models often…

Recently, leveraging on the development of end-to-end convolutional neural networks (CNNs), deep stereo matching networks have achieved remarkable performance far exceeding traditional approaches. However, state-of-the-art stereo frameworks…

Video depth estimation is crucial in various applications, such as scene reconstruction and augmented reality. In contrast to the naive method of estimating depths from images, a more sophisticated approach uses temporal information,…

The integration of machine learning and robotics into thin film deposition is transforming material discovery and optimization. However, challenges remain in achieving a fully autonomous cycle of deposition, characterization, and…

Depth maps obtained from commercially available structured-light stereo based depth cameras, such as the Kinect, are easy to use but are affected by significant amounts of noise. This paper is devoted to a study of the intrinsic noise…

Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…

Commercial depth sensors usually generate noisy and missing depths, especially on specular and transparent objects, which poses critical issues to downstream depth or point cloud-based tasks. To mitigate this problem, we propose a powerful…

Passive depth estimation is among the most long-studied fields in computer vision. The most common methods for passive depth estimation are either a stereo or a monocular system. Using the former requires an accurate calibration process,…

Stereo images have been captured primarily for 3D reconstruction in the past. However, the depth information acquired from stereo can also be used along with saliency to highlight certain objects in a scene. This approach can be used to…

Accurate and reliable 3D object detection is vital to safe autonomous driving. Despite recent developments, the performance gap between stereo-based methods and LiDAR-based methods is still considerable. Accurate depth estimation is crucial…

Real-time Stereo Matching is a cornerstone algorithm for many Extended Reality (XR) applications, such as indoor 3D understanding, video pass-through, and mixed-reality games. Despite significant advancements in deep stereo methods,…

Stereo-based depth estimation is a cornerstone of computer vision, with state-of-the-art methods delivering accurate results in real time. For several applications such as autonomous navigation, however, it may be useful to trade accuracy…

This paper presents a stereo object matching method that exploits both 2D contextual information from images as well as 3D object-level information. Unlike existing stereo matching methods that exclusively focus on the pixel-level…

Event stereo matching is an emerging technique to estimate depth from neuromorphic cameras; however, events are unlikely to trigger in the absence of motion or the presence of large, untextured regions, making the correspondence problem…

Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation…

Localizing stereo boundaries and predicting nearby disparities are difficult because stereo boundaries induce occluded regions where matching cues are absent. Most modern computer vision algorithms treat occlusions secondarily (e.g., via…

Depth cameras are frequently used in robotic manipulation, e.g. for visual servoing. The quality of small and compact depth cameras is though often not sufficient for depth reconstruction, which is required for precise tracking in and…