相关论文: Multi-Modal Masked Pre-Training for Monocular Pano…

Recently, multi-modal masked autoencoders (MAE) has been introduced in 3D self-supervised learning, offering enhanced feature learning by leveraging both 2D and 3D data to capture richer cross-modal representations. However, these…

Recognizing and localizing objects in the 3D space is a crucial ability for an AI agent to perceive its surrounding environment. While significant progress has been achieved with expensive LiDAR point clouds, it poses a great challenge for…

Mask-based pretraining has become a cornerstone of modern large-scale models across language, vision, and recently biology. Despite its empirical success, its role and limits in learning data representations have been unclear. In this work,…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

Depth completion involves recovering a dense depth map from a sparse map and an RGB image. Recent approaches focus on utilizing color images as guidance images to recover depth at invalid pixels. However, color images alone are not enough…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

The present Multi-view stereo (MVS) methods with supervised learning-based networks have an impressive performance comparing with traditional MVS methods. However, the ground-truth depth maps for training are hard to be obtained and are…

Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…

Despite the success of transformers on various computer vision tasks, they suffer from excessive memory and computational cost. Some works present dynamic vision transformers to accelerate inference by pruning redundant tokens. A key to…

Existing methods of cross-modal domain adaptation for 3D semantic segmentation predict results only via 2D-3D complementarity that is obtained by cross-modal feature matching. However, as lacking supervision in the target domain, the…

Streaming reconstruction from uncalibrated monocular video remains challenging, as it requires both high-precision pose estimation and computationally efficient online refinement in dynamic environments. While coupling 3D foundation models…

Monocular depth inference is a fundamental problem for scene perception of robots. Specific robots may be equipped with a camera plus an optional depth sensor of any type and located in various scenes of different scales, whereas recent…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

Recent learning approaches that implicitly represent surface geometry using coordinate-based neural representations have shown impressive results in the problem of multi-view 3D reconstruction. The effectiveness of these techniques is,…

The present Multi-view stereo (MVS) methods with supervised learning-based networks have an impressive performance comparing with traditional MVS methods. However, the ground-truth depth maps for training are hard to be obtained and are…

Masked Autoencoders learn strong visual representations and achieve state-of-the-art results in several independent modalities, yet very few works have addressed their capabilities in multi-modality settings. In this work, we focus on point…

Multimodal learning seeks to combine data from multiple input sources to enhance the performance of different downstream tasks. In real-world scenarios, performance can degrade substantially if some input modalities are missing. Existing…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Depth information which specifies the distance between objects and current position of the robot is essential for many robot tasks such as navigation. Recently, researchers have proposed depth completion frameworks to provide dense depth…

3D pre-training is crucial to 3D perception tasks. Nevertheless, limited by the difficulties in collecting clean and complete 3D data, 3D pre-training has persistently faced data scaling challenges. In this work, we introduce a novel…