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

Accurate depth estimation with lowest compute and energy cost is a crucial requirement for unmanned and battery operated autonomous systems. Robotic applications require real time depth estimation for navigation and decision making under…

Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…

Depth estimation under adverse conditions remains a significant challenge. Recently, multi-spectral depth estimation, which integrates both visible light and thermal images, has shown promise in addressing this issue. However, existing…

Many applications of stereo depth estimation in robotics require the generation of accurate disparity maps in real time under significant computational constraints. Current state-of-the-art algorithms force a choice between either…

Modern neural network-based algorithms are able to produce highly accurate depth estimates from stereo image pairs, nearly matching the reliability of measurements from more expensive depth sensors. However, this accuracy comes with a…

We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniques: Semi-Global Matching (SGM) stereo with Discrete…

We present an overview of the methodology used to build a new stereo vision solution that is suitable for System on Chip. This new solution was developed to bring computer vision capability to embedded devices that live in a power…

Stereo matching is a key technique for metric depth estimation in computer vision and robotics. Real-world challenges like occlusion and non-texture hinder accurate disparity estimation from binocular matching cues. Recently, monocular…

Stereo vision technique has been widely used in robotic systems to acquire 3-D information. In recent years, many researchers have applied bilateral filtering in stereo vision to adaptively aggregate the matching costs. This has greatly…

Video depth estimation is crucial in various applications, such as scene reconstruction and augmented reality. In contrast to the naive method of estimating depths from images, a more sophisticated approach uses temporal information,…

Stereopsis has widespread appeal in robotics as it is the predominant way by which living beings perceive depth to navigate our 3D world. Event cameras are novel bio-inspired sensors that detect per-pixel brightness changes asynchronously,…

For many applications in low-power real-time robotics, stereo cameras are the sensors of choice for depth perception as they are typically cheaper and more versatile than their active counterparts. Their biggest drawback, however, is that…

Disparity/depth estimation from sequences of stereo images is an important element in 3D vision. Owing to occlusions, imperfect settings and homogeneous luminance, accurate estimate of depth remains a challenging problem. Targetting view…

We present a foundation model for zero-shot metric monocular depth estimation. Our model, Depth Pro, synthesizes high-resolution depth maps with unparalleled sharpness and high-frequency details. The predictions are metric, with absolute…

Depth estimation from a single image represents a fascinating, yet challenging problem with countless applications. Recent works proved that this task could be learned without direct supervision from ground truth labels leveraging image…

Monocular and stereo depth estimation offer complementary strengths: monocular methods capture rich contextual priors but lack geometric precision, while stereo approaches leverage epipolar geometry yet struggle with ambiguities such as…

Modern cameras with large apertures often suffer from a shallow depth of field, resulting in blurry images of objects outside the focal plane. This limitation is particularly problematic for fixed-focus cameras, such as those used in smart…

We introduce a novel architecture for neural disparity refinement aimed at facilitating deployment of 3D computer vision on cheap and widespread consumer devices, such as mobile phones. Our approach relies on a continuous formulation that…

Stereo vision systems have become popular in computer vision applications, such as 3D reconstruction, object tracking, and autonomous navigation. However, traditional stereo vision systems that use rectilinear lenses may not be suitable for…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…