相关论文: A Multi-modal Approach to Single-modal Visual Plac…

Existing RGB-D saliency detection models do not explicitly encourage RGB and depth to achieve effective multi-modal learning. In this paper, we introduce a novel multi-stage cascaded learning framework via mutual information minimization to…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Monocular 3D object detection is well-known to be a challenging vision task due to the loss of depth information; attempts to recover depth using separate image-only approaches lead to unstable and noisy depth estimates, harming 3D…

With the development of depth sensors in recent years, RGBD object tracking has received significant attention. Compared with the traditional RGB object tracking, the addition of the depth modality can effectively solve the target and…

We address the problem of registering synchronized color (RGB) and multi-spectral (MS) images featuring very different resolution by solving stereo matching correspondences. Purposely, we introduce a novel RGB-MS dataset framing 13…

Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…

Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Multimodal deep sensor fusion has the potential to enable autonomous vehicles to visually understand their surrounding environments in all weather conditions. However, existing deep sensor fusion methods usually employ convoluted…

Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…

Monocular depth estimation is a fundamental yet challenging task in computer vision, especially under complex conditions such as textureless surfaces, transparency, and specular reflections. Recent diffusion-based approaches have…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address hybrid domain gaps in RGB and depth data and insufficient…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Re-identification (ReID) is a critical challenge in computer vision, predominantly studied in the context of pedestrians and vehicles. However, robust object-instance ReID, which has significant implications for tasks such as autonomous…