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

2D face recognition encounters challenges in unconstrained environments due to varying illumination, occlusion, and pose. Recent studies focus on RGB-D face recognition to improve robustness by incorporating depth information. However,…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

As cameras are increasingly deployed in new application domains such as autonomous driving, performing 3D object detection on monocular images becomes an important task for visual scene understanding. Recent advances on monocular 3D object…

Realistic and controllable panoramic LiDAR data generation is critical for scalable 3D perception in autonomous driving and robotics. Existing methods either perform unconditional generation with poor controllability or adopt text-guided…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…

Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent, recent research on monocular depth estimation has leveraged…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

Existing RGB-D salient object detection (SOD) approaches concentrate on the cross-modal fusion between the RGB stream and the depth stream. They do not deeply explore the effect of the depth map itself. In this work, we design a single…

Recently, multi-modality scene perception tasks, e.g., image fusion and scene understanding, have attracted widespread attention for intelligent vision systems. However, early efforts always consider boosting a single task unilaterally and…

RGB-D scene parsing methods effectively capture both semantic and geometric features of the environment, demonstrating great potential under challenging conditions such as extreme weather and low lighting. However, existing RGB-D scene…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

Combining complementary sensor modalities is crucial to providing robust perception for safety-critical robotics applications such as autonomous driving (AD). Recent state-of-the-art camera-lidar fusion methods for AD rely on monocular…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Self-supervised monocular depth estimation has gathered notable interest since it can liberate training from dependency on depth annotations. In monocular video training case, recent methods only conduct view synthesis between existing…

Previous RGB-D salient object detection (SOD) methods have widely adopted deep learning tools to automatically strike a trade-off between RGB and D (depth), whose key rationale is to take full advantage of their complementary nature, aiming…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based…