相关论文: Consistent Depth Prediction under Various Illumina…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

This paper addresses the problem of estimating the depth map of a scene given a single RGB image. We propose a fully convolutional architecture, encompassing residual learning, to model the ambiguous mapping between monocular images and…

In this paper we propose a method for estimating depth from a single image using a coarse to fine approach. We argue that modeling the fine depth details is easier after a coarse depth map has been computed. We express a global (coarse)…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

Monocular depth estimation is a fundamental yet challenging task in computer vision, especially under complex conditions such as textureless surfaces, transparency, and specular reflections. Recent diffusion-based approaches have…

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However,…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

Guided depth super-resolution (GDSR) involves restoring missing depth details using the high-resolution RGB image of the same scene. Previous approaches have struggled with the heterogeneity and complementarity of the multi-modal inputs,…

Fine-grained object classification is a challenging task due to the subtle inter-class difference and large intra-class variation. Recently, visual attention models have been applied to automatically localize the discriminative regions of…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Estimating depth from a single RGB image is an ill-posed and inherently ambiguous problem. State-of-the-art deep learning methods can now estimate accurate 2D depth maps, but when the maps are projected into 3D, they lack local detail and…

In video-based action recognition, viewpoint variations often pose major challenges because the same actions can appear different from different views. We use the complementary RGB and Depth information from the RGB-D cameras to address…

We propose a method for converting a single RGB-D input image into a 3D photo - a multi-layer representation for novel view synthesis that contains hallucinated color and depth structures in regions occluded in the original view. We use a…

Depth completion aims to recover dense depth maps from sparse depth measurements. It is of increasing importance for autonomous driving and draws increasing attention from the vision community. Most of existing methods directly train a…

Recent works in self-supervised learning have shown impressive results on single-object images, but they struggle to perform well on complex multi-object images as evidenced by their poor visual grounding. To demonstrate this concretely, we…

In this work, we propose a step towards a more accurate prediction of the environment light given a single picture of a known object. To achieve this, we developed a deep learning method that is able to encode the latent space of indoor…

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However,…

The representation of consistent mixed reality (XR) environments requires adequate real and virtual illumination composition in real-time. Estimating the lighting of a real scenario is still a challenge. Due to the ill-posed nature of the…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

Self-supervised learning methods overcome the key bottleneck for building more capable AI: limited availability of labeled data. However, one of the drawbacks of self-supervised architectures is that the representations that they learn are…