相关论文: Self-Supervised Depth Completion for Active Stereo

Depth perception is crucial for spatial understanding and has traditionally been achieved through stereoscopic imaging. However, the precision of depth estimation using stereoscopic methods depends on the accurate calibration of binocular…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

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,…

This paper presents a novel general-purpose guided stereo paradigm that mimics the active stereo principle by replacing the unreliable physical pattern projector with a depth sensor. It works by projecting virtual patterns consistent with…

This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and…

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…

Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…

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…

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…

In this letter, we address the problem of exploration and metric-semantic mapping of multi-floor GPS-denied indoor environments using Size Weight and Power (SWaP) constrained aerial robots. Most previous work in exploration assumes that…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…