相关论文: Iterative Geometry Encoding Volume for Stereo Matc…

Camera-based 3D object detectors are welcome due to their wider deployment and lower price than LiDAR sensors. We first revisit the prior stereo detector DSGN for its stereo volume construction ways for representing both 3D geometry and…

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…

Learning-based stereo matching has recently achieved promising results, yet still suffers difficulties in establishing reliable matches in weakly matchable regions that are textureless, non-Lambertian, or occluded. In this paper, we address…

Stereo matching and flow estimation are two essential tasks for scene understanding, spatially in 3D and temporally in motion. Existing approaches have been focused on the unsupervised setting due to the limited resource to obtain the…

Scene understanding is paramount in robotics, self-navigation, augmented reality, and many other fields. To fully accomplish this task, an autonomous agent has to infer the 3D structure of the sensed scene (to know where it looks at) and…

Deep stereo matching has advanced significantly on benchmark datasets through fine-tuning but falls short of the zero-shot generalization seen in foundation models in other vision tasks. We introduce CogStereo, a novel framework that…

Stereo matching is crucial for binocular stereo vision. Existing methods mainly focus on simple disparity map fusion to improve stereo matching, which require multiple dense or sparse disparity maps. In this paper, we propose a simple yet…

Reconstructing coherent 3D geometry and appearance from unposed multi-view images is a fundamental yet challenging problem in computer vision. Most existing visual geometry foundation models predict explicit geometry by regressing…

3D semantic scene completion (SSC) is an ill-posed perception task that requires inferring a dense 3D scene from limited observations. Previous camera-based methods struggle to predict accurate semantic scenes due to inherent geometric…

Several leading methods on public benchmarks for depth-from-stereo rely on memory-demanding 4D cost volumes and computationally intensive 3D convolutions for feature matching. We suggest a new way to process the 4D cost volume where we…

Although deep learning-based methods have dominated stereo matching leaderboards by yielding unprecedented disparity accuracy, their inference time is typically slow, on the order of seconds for a pair of 540p images. The main reason is…

High-performance real-time stereo matching methods invariably rely on 3D regularization of the cost volume, which is unfriendly to mobile devices. And 2D regularization based methods struggle in ill-posed regions. In this paper, we present…

In this paper, we present a multi-label stereo matching method to simultaneously estimate the depth of the transparent objects and the occluded background in transparent scenes.Unlike previous methods that assume a unimodal distribution…

Stereo matching is the key step in estimating depth from two or more images. Recently, some tree-based non-local stereo matching methods have been proposed, which achieved state-of-the-art performance. The algorithms employed some tree…

Real-world applications of stereo matching, such as autonomous driving, place stringent demands on both safety and accuracy. However, learning-based stereo matching methods inherently suffer from the loss of geometric structures in certain…

Stereo depth estimation is fundamental to underwater robotic perception, yet suffers from severe domain shifts caused by wavelength-dependent light attenuation, scattering, and refraction. Recent approaches leverage monocular foundation…

Both uncertainty-assisted and iteration-based methods have achieved great success in stereo matching. However, existing uncertainty estimation methods take a single image and the corresponding disparity as input, which imposes higher…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

In contrast to conventional visual question answering, video-grounded dialog necessitates a profound understanding of both dialog history and video content for accurate response generation. Despite commendable progress made by existing…

We introduce Stereo Anywhere, a novel stereo-matching framework that combines geometric constraints with robust priors from monocular depth Vision Foundation Models (VFMs). By elegantly coupling these complementary worlds through a…