相关论文: Monocular Camera-based Complex Obstacle Avoidance …

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Spherical cameras capture scenes in a holistic manner and have been used for room layout estimation. Recently, with the availability of appropriate datasets, there has also been progress in depth estimation from a single omnidirectional…

Autonomous agile robots need more than metric geometry: they must understand objects, rooms, places, and spatial relations for search, inspection, exploration, and human robot interaction. Conventional metric maps support localization and…

Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…

Adjusting camera exposure in arbitrary lighting conditions is the first step to ensure the functionality of computer vision applications. Poorly adjusted camera exposure often leads to critical failure and performance degradation.…

Deep reinforcement learning is an emerging machine learning approach which can teach a computer to learn from their actions and rewards similar to the way humans learn from experience. It offers many advantages in automating decision…

Monocular depth estimation from RGB images plays a pivotal role in 3D vision. However, its accuracy can deteriorate in challenging environments such as nighttime or adverse weather conditions. While long-wave infrared cameras offer stable…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…

Remarkable progress has been made in self-supervised monocular depth estimation (SS-MDE) by exploring cross-view consistency, e.g., photometric consistency and 3D point cloud consistency. However, they are very vulnerable to illumination…

Recently, 3D object detection algorithms based on radar and camera fusion have shown excellent performance, setting the stage for their application in autonomous driving perception tasks. Existing methods have focused on dealing with…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for robotic manipulation generally relies on depth sensors based on,…

Today's state-of-the-art methods for 3D object detection are based on lidar, stereo, or monocular cameras. Lidar-based methods achieve the best accuracy, but have a large footprint, high cost, and mechanically-limited angular sampling…

Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…

Depth is a vital piece of information for autonomous vehicles to perceive obstacles. Due to the relatively low price and small size of monocular cameras, depth estimation from a single RGB image has attracted great interest in the research…

Wide-range and fine-grained vehicle detection plays a critical role in enabling active safety features in intelligent driving systems. However, existing vehicle detection methods based on rectangular bounding boxes (BBox) often struggle…