相关论文: MVRackLay: Monocular Multi-View Layout Estimation …

In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

Humans are able to accurately reason in 3D by gathering multi-view observations of the surrounding world. Inspired by this insight, we introduce a new large-scale benchmark for 3D multi-view visual question answering (3DMV-VQA). This…

In this paper, we present a new method for multi-view geometric reconstruction. In recent years, large vision models have rapidly developed, performing excellently across various tasks and demonstrating remarkable generalization…

Despite recent advancements in the Large Reconstruction Model (LRM) demonstrating impressive results, when extending its input from single image to multiple images, it exhibits inefficiencies, subpar geometric and texture quality, as well…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

Monocular 3D object detection offers a cost-effective solution for autonomous driving but suffers from ill-posed depth and limited field of view. These constraints cause a lack of geometric cues and reduced accuracy in occluded or truncated…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Spatial reasoning (SR), the ability to infer 3D spatial information from 2D inputs, is essential for real-world applications such as embodied AI and autonomous driving. However, existing research primarily focuses on indoor environments and…

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…

We present a method to infer 3D pose and shape of vehicles from a single image. To tackle this ill-posed problem, we optimize two-scale projection consistency between the generated 3D hypotheses and their 2D pseudo-measurements.…

Despite the significant improvement in the performance of monocular pose estimation approaches and their ability to generalize to unseen environments, multi-view (MV) approaches are often lagging behind in terms of accuracy and are specific…

Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

Depth estimation from monocular images is a challenging problem in computer vision. In this paper, we tackle this problem using a novel network architecture using multi scale feature fusion. Our network uses two different blocks, first…

In this survey we present a complete landscape of joint object detection and pose estimation methods that use monocular vision. Descriptions of traditional approaches that involve descriptors or models and various estimation methods have…

We present uLayout, a unified model for estimating room layout geometries from both perspective and panoramic images, whereas traditional solutions require different model designs for each image type. The key idea of our solution is to…

Efficiently finding an occluded object with lateral access arises in many contexts such as warehouses, retail, healthcare, shipping, and homes. We introduce LAX-RAY (Lateral Access maXimal Reduction of occupancY support Area), a system to…