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

Since convolutional neural networks perform well in learning generalizable image priors from large-scale data, these models have been widely used in image denoising tasks. However, the computational complexity increases dramatically as well…

In this paper, we introduce a novel approach that harnesses both 2D and 3D attentions to enable highly accurate depth completion without requiring iterative spatial propagations. Specifically, we first enhance a baseline convolutional depth…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Estimating redshift is a central task in astrophysics, but its measurement is costly and time-consuming. In addition, current image-based methods are often validated on homogeneous datasets. The development and comparison of networks able…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Context. The determination of accurate photometric redshifts (photo-zs) in large imaging galaxy surveys is key for cosmological studies. One of the most common approaches are machine learning techniques. These methods require a…

Point completion refers to completing the missing geometries of an object from incomplete observations. Main-stream methods predict the missing shapes by decoding a global feature learned from the input point cloud, which often leads to…

We propose a novel model for 3D semantic completion from a single depth image, based on a single encoder and three separate generators used to reconstruct different geometric and semantic representations of the original and completed scene,…

Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…

This paper proposes a deep neural network (DNN) for piece-wise planar depthmap reconstruction from a single RGB image. While DNNs have brought remarkable progress to single-image depth prediction, piece-wise planar depthmap reconstruction…

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…

This work presents a novel pipeline to recover the 3D structure of an unknown target spacecraft from a sequence of images captured during Rendezvous and Proximity Operations (RPO) in space. The target's geometry and appearance are…

On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…

In this study, a deep-learning-based multi-stage network architecture called Multi-Stage Depth Prediction Network (MSDPN) is proposed to predict a dense depth map using a 2D LiDAR and a monocular camera. Our proposed network consists of a…

Monocular depth estimation is critical for endoscopists to perform spatial perception and 3D navigation of surgical sites. However, most of the existing methods ignore the important geometric structural consistency, which inevitably leads…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

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…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

Depth completion, which aims to generate high-quality dense depth maps from sparse depth maps, has attracted increasing attention in recent years. Previous work usually employs RGB images as guidance, and introduces iterative spatial…