相关论文: Uncertainty Guided Depth Fusion for Spike Camera

Neuromorphic spike data, an upcoming modality with high temporal resolution, has shown promising potential in autonomous driving by mitigating the challenges posed by high-velocity motion blur. However, training the spike depth estimation…

We revisit the problem of visual depth estimation in the context of autonomous vehicles. Despite the progress on monocular depth estimation in recent years, we show that the gap between monocular and stereo depth accuracy remains large$-$a…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Due to the domain differences and unbalanced disparity distribution across multiple datasets, current stereo matching approaches are commonly limited to a specific dataset and generalize poorly to others. Such domain shift issue is usually…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Current self-supervised monocular depth estimation methods are mostly based on estimating a rigid-body motion representing camera motion. These methods suffer from the well-known scale ambiguity problem in their predictions. We propose…

Image fusion aims to generate a high-quality image from multiple images captured under varying conditions. The key problem of this task is to preserve complementary information while filtering out irrelevant information for the fused…

Monocular depth estimation is an ambiguous problem, thus global structural cues play an important role in current data-driven single-view depth estimation methods. Panorama images capture the complete spatial information of their…

Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…

Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…

Infrared and visible image fusion has emerged as a prominent research area in computer vision. However, little attention has been paid to the fusion task in complex scenes, leading to sub-optimal results under interference. To fill this…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

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…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Full-field ultra-high-speed (UHS) x-ray imaging experiments have been well established to characterize various processes and phenomena. However, the potential of UHS experiments through the joint acquisition of x-ray videos with distinct…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

Pedestrian Detection is the most critical module of an Autonomous Driving system. Although a camera is commonly used for this purpose, its quality degrades severely in low-light night time driving scenarios. On the other hand, the quality…

We propose a method for depth estimation under different illumination conditions, i.e., day and night time. As photometry is uninformative in regions under low-illumination, we tackle the problem through a multi-sensor fusion approach,…

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,…