相关论文: Learning an Efficient Multimodal Depth Completion …

Depth completion from RGB images and sparse Time-of-Flight (ToF) measurements is an important problem in computer vision and robotics. While traditional methods for depth completion have relied on stereo vision or structured light…

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…

Existing depth completion methods are often targeted at a specific sparse depth type and generalize poorly across task domains. We present a method to complete sparse/semi-dense, noisy, and potentially low-resolution depth maps obtained by…

Depth map enhancement using paired high-resolution RGB images offers a cost-effective solution for improving low-resolution depth data from lightweight ToF sensors. Nevertheless, naively adopting a depth estimation pipeline to fuse the two…

Depth completion aims to recover dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent depth methods primarily focus on image guided learning frameworks. However, blurry guidance in the image…

The raw depth image captured by the indoor depth sensor usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and limited distance range. The incomplete…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

Depth completion is a pivotal challenge in computer vision, aiming at reconstructing the dense depth map from a sparse one, typically with a paired RGB image. Existing learning based models rely on carefully prepared but limited data,…

Depth completion from sparse LiDAR measurements and corresponding RGB images is a prerequisite for accurate 3D perception in robotic systems. Existing methods achieve high accuracy on standard benchmarks but rely on heavy backbone…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Developing and integrating advanced image sensors with novel algorithms in camera systems is prevalent with the increasing demand for computational photography and imaging on mobile platforms. However, the lack of high-quality data for…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

In this paper, we propose a robust and efficient end-to-end non-local spatial propagation network for depth completion. The proposed network takes RGB and sparse depth images as inputs and estimates non-local neighbors and their affinities…

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…

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…

Recently, it is increasingly popular to equip mobile RGB cameras with Time-of-Flight (ToF) sensors for active depth sensing. However, for off-the-shelf ToF sensors, one must tackle two problems in order to obtain high-quality depth with…

Depth completion using lightweight time-of-flight (ToF) depth sensors is attractive due to their low cost. However, lightweight ToF sensors usually have a limited field of view (FOV) compared with cameras. Thus, only pixels in the zone area…

Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applications such as autonomous driving, 3D reconstruction, augmented…

Integrating an RGB camera into a ToF imaging system has become a significant technique for perceiving the real world. The RGB guided ToF imaging system is crucial to several applications, including face anti-spoofing, saliency detection,…

This paper presents a novel iToF-RGB fusion framework designed to address the inherent limitations of indirect Time-of-Flight (iToF) depth sensing, such as low spatial resolution, limited field-of-view (FoV), and structural distortion in…