相关论文: BEVStereo++: Accurate Depth Estimation in Multi-vi…

Traditional MVS methods have good accuracy but struggle with completeness, while recently developed learning-based multi-view stereo (MVS) techniques have improved completeness except accuracy being compromised. We propose depth…

Temporally consistent depth estimation from stereo video is critical for real-world applications such as augmented reality, where inconsistent depth estimation disrupts the immersion of users. Despite its importance, this task remains…

3D object detection plays a pivotal role in autonomous driving and robotics, demanding precise interpretation of Bird's Eye View (BEV) images. The dynamic nature of real-world environments necessitates the use of dynamic query mechanisms in…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

Accurate multi-view 3D object detection is essential for applications such as autonomous driving. Researchers have consistently aimed to leverage LiDAR's precise spatial information to enhance camera-based detectors through methods like…

Multi-modal sensor fusion in Bird's Eye View (BEV) representation has become the leading approach for 3D object detection. However, existing methods often rely on depth estimators or transformer encoders to transform image features into BEV…

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be…

GigaMVS presents several challenges to existing Multi-View Stereo (MVS) algorithms for its large scale, complex occlusions, and gigapixel images. To address these problems, we first apply one of the state-of-the-art learning-based MVS…

Determining accurate bird's eye view (BEV) positions of objects and tracks in a scene is vital for various perception tasks including object interactions mapping, scenario extraction etc., however, the level of supervision required to…

Significant strides have been made in enhancing the accuracy of Multi-View Stereo (MVS)-based 3D reconstruction. However, untextured areas with unstable photometric consistency often remain incompletely reconstructed. In this paper, we…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

3D reconstruction has lately attracted increasing attention due to its wide application in many areas, such as autonomous driving, robotics and virtual reality. As a dominant technique in artificial intelligence, deep learning has been…

In this paper, we propose a novel multi-view stereo (MVS) framework that gets rid of the depth range prior. Unlike recent prior-free MVS methods that work in a pair-wise manner, our method simultaneously considers all the source images.…

Video depth estimation aims to infer temporally consistent depth. One approach is to finetune a single-image model on each video with geometry constraints, which proves inefficient and lacks robustness. An alternative is learning to enforce…

Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle…

Recent deep learning-based multi-view people detection (MVD) methods have shown promising results on existing datasets. However, current methods are mainly trained and evaluated on small, single scenes with a limited number of multi-view…

Stereo matching plays a crucial role in 3D perception and scenario understanding. Despite the proliferation of promising methods, addressing texture-less and texture-repetitive conditions remains challenging due to the insufficient…

Multi-View Pedestrian Detection (MVPD) aims to detect pedestrians in the form of a bird's eye view (BEV) from multi-view images. In MVPD, end-to-end trainable deep learning methods have progressed greatly. However, they often struggle to…

In autonomous driving, 3D object detection is essential for accurate perception and reliable decision-making. However, object motion and ego-motion often induce cross-frame spatiotemporal inconsistencies in BEV-based detectors, leading to…

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…