相关论文: Spacecraft depth completion based on the gray imag…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…

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,…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

How will you repair a physical object with large missings? You may first recover its global yet coarse shape and stepwise increase its local details. We are motivated to imitate the above physical repair procedure to address the point cloud…

We propose a novel approach for 3D shape completion by synthesizing multi-view depth maps. While previous work for shape completion relies on volumetric representations, meshes, or point clouds, we propose to use multi-view depth maps from…

Depth completion involves estimating a dense depth image from sparse depth measurements, often guided by a color image. While linear upsampling is straight forward, it results in artifacts including depth pixels being interpolated in empty…

This paper introduces Scene Completeness-Aware Depth Completion (SCADC) to complete raw lidar scans into dense depth maps with fine and complete scene structures. Recent sparse depth completion for lidars only focuses on the lower scenes…

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…

We propose a deep neural network architecture to infer dense depth from an image and a sparse point cloud. It is trained using a video stream and corresponding synchronized sparse point cloud, as obtained from a LIDAR or other range sensor,…

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…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Enhancing the quality of low-light images plays a very important role in many image processing and multimedia applications. In recent years, a variety of deep learning techniques have been developed to address this challenging task. A…

Training deep models for semantic scene completion (SSC) is challenging due to the sparse and incomplete input, a large quantity of objects of diverse scales as well as the inherent label noise for moving objects. To address the…

Being capable of estimating the pose of uncooperative objects in space has been proposed as a key asset for enabling safe close-proximity operations such as space rendezvous, in-orbit servicing and active debris removal. Usual approaches…

Image guided depth completion is the task of generating a dense depth map from a sparse depth map and a high quality image. In this task, how to fuse the color and depth modalities plays an important role in achieving good performance. This…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Images of spacecraft photographed from other spacecraft operating in outer space are difficult to come by, especially at a scale typically required for deep learning tasks. Semantic image segmentation, object detection and localization, and…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

We introduce SLCF-Net, a novel approach for the Semantic Scene Completion (SSC) task that sequentially fuses LiDAR and camera data. It jointly estimates missing geometry and semantics in a scene from sequences of RGB images and sparse LiDAR…