相关论文: SparseFormer: Attention-based Depth Completion Net…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…

Real-image super-resolution (Real-ISR) seeks to recover HR images from LR inputs with mixed, unknown degradations. While diffusion models surpass GANs in perceptual quality, they under-reconstruct high-frequency (HF) details due to a…

Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a…

Accurate and computationally efficient 3D medical image segmentation remains a critical challenge in clinical workflows. Transformer-based architectures often demonstrate superior global contextual modeling but at the expense of excessive…

Sparsifying the Transformer has garnered considerable interest, as training the Transformer is very computationally demanding. Prior efforts to sparsify the Transformer have either used a fixed pattern or data-driven approach to reduce the…

Accurate dense depth estimation is crucial for autonomous vehicles to analyze their environment. This paper presents a non-deep learning-based approach to densify a sparse LiDAR-based depth map using a guidance RGB image. To achieve this…

Semantic segmentation is a fundamental task in multimedia processing, which can be used for analyzing, understanding, editing contents of images and videos, among others. To accelerate the analysis of multimedia data, existing segmentation…

Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…

Multi-modal 3D object detection has exhibited significant progress in recent years. However, most existing methods can hardly scale to long-range scenarios due to their reliance on dense 3D features, which substantially escalate…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

In this paper, we propose a new unsupervised feature learning framework, namely Deep Sparse Coding (DeepSC), that extends sparse coding to a multi-layer architecture for visual object recognition tasks. The main innovation of the framework…

The raw depth images captured by RGB-D cameras using Time-of-Flight (TOF) or structured light often suffer from incomplete depth values due to weak reflections, boundary shadows, and artifacts, which limit their applications in downstream…

Sparse active illumination enables precise time-of-flight depth sensing as it maximizes signal-to-noise ratio for low power budgets. However, depth completion is required to produce dense depth maps for 3D perception. We address this task…

In this paper we consider the problem of estimating a dense depth map from a set of sparse LiDAR points. We use techniques from compressed sensing and the recently developed Alternating Direction Neural Networks (ADNNs) to create a deep…

Self-supervised learning (SSL) has emerged as a powerful strategy for representation learning under limited annotation regimes, yet its effectiveness remains highly sensitive to many factors, especially the nature of the target task. In…

We introduce the Large Sparse Reconstruction Model to study how scaling transformer context windows impacts feed-forward 3D reconstruction. Although recent object-centric feed-forward methods deliver robust, high-quality reconstruction,…

While local-window self-attention performs notably in vision tasks, it suffers from limited receptive field and weak modeling capability issues. This is mainly because it performs self-attention within non-overlapped windows and shares…

As a fundamental task in computer vision, semantic segmentation is widely applied in fields such as autonomous driving, remote sensing image analysis, and medical image processing. In recent years, Transformer-based segmentation methods…

Accurate 3D lane segment detection and topology reasoning are critical for structured online map construction in autonomous driving. Recent transformer-based approaches formulate this task as query-based set prediction, yet largely inherit…