相关论文: A Practical Stereo Depth System for Smart Glasses

Stereo depth estimation is a fundamental component in augmented reality (AR), which requires low latency for real-time processing. However, preprocessing such as rectification and non-ML computations such as cost volume require significant…

Nowadays, smartphones can produce a synchronized (synced) stream of high-quality data, including RGB images, inertial measurements, and other data. Therefore, smartphones are becoming appealing sensor systems in the robotics community.…

With the developments of dual-lens camera modules,depth information representing the third dimension of thecaptured scenes becomes available for smartphones. It isestimated by stereo matching algorithms, taking as input thetwo views…

We present a passive stereo depth system that produces dense and accurate point clouds optimized for human environments, including dark, textureless, thin, reflective and specular surfaces and objects, at 2560x2048 resolution, with 384…

Obtaining highly accurate depth from stereo images in real time has many applications across computer vision and robotics, but in some contexts, upper bounds on power consumption constrain the feasible hardware to embedded platforms such as…

Computational stereo has reached a high level of accuracy, but degrades in the presence of occlusions, repeated textures, and correspondence errors along edges. We present a novel approach based on neural networks for depth estimation that…

Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…

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…

Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…

Stereo depth estimation is used for many computer vision applications. Though many popular methods strive solely for depth quality, for real-time mobile applications (e.g. prosthetic glasses or micro-UAVs), speed and power efficiency are…

Deep learning techniques have enabled rapid progress in monocular depth estimation, but their quality is limited by the ill-posed nature of the problem and the scarcity of high quality datasets. We estimate depth from a single camera by…

Conventional frame-based cameras often struggle with stereo depth estimation in rapidly changing scenes. In contrast, bio-inspired spike cameras emit asynchronous events at microsecond-level resolution, providing an alternative sensing…

Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…

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…

Reliable depth estimation under real optical conditions remains a core challenge for camera vision in systems such as autonomous robotics and augmented reality. Despite recent progress in depth estimation and depth-of-field rendering,…

We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…

High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of…

Depth from defocus (DfD) and stereo matching are two most studied passive depth sensing schemes. The techniques are essentially complementary: DfD can robustly handle repetitive textures that are problematic for stereo matching whereas…

Modern optical satellite sensors enable high-resolution stereo reconstruction from space. But the challenging imaging conditions when observing the Earth from space push stereo matching to its limits. In practice, the resulting digital…