相关论文: DEUX: Active Exploration for Learning Unsupervised…

Depth perception is considered an invaluable source of information for various vision tasks. However, depth maps acquired using consumer-level sensors still suffer from non-negligible noise. This fact has recently motivated researchers to…

Single-view depth estimation refers to the ability to derive three-dimensional information per pixel from a single two-dimensional image. Single-view depth estimation is an ill-posed problem because there are multiple depth solutions that…

Depth estimation features are helpful for 3D recognition. Commodity-grade depth cameras are able to capture depth and color image in real-time. However, glossy, transparent or distant surface cannot be scanned properly by the sensor. As a…

Self-supervised monocular depth estimation (DE) is an approach to learning depth without costly depth ground truths. However, it often struggles with moving objects that violate the static scene assumption during training. To address this…

The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that…

Universal lesion detection has great value for clinical practice as it aims to detect various types of lesions in multiple organs on medical images. Deep learning methods have shown promising results, but demanding large volumes of…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

While a traditional camera only captures one point of view of a scene, a plenoptic or light-field camera, is able to capture spatial and angular information in a single snapshot, enabling depth estimation from a single acquisition. In this…

Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to…

Unsupervised depth completion and estimation methods are trained by minimizing reconstruction error. Block artifacts from resampling, intensity saturation, and occlusions are amongst the many undesirable by-products of common data…

Unsupervised monocular depth and ego-motion estimation has drawn extensive research attention in recent years. Although current methods have reached a high up-to-scale accuracy, they usually fail to learn the true scale metric due to the…

This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup…

Reinforcement learning algorithms commonly seek to optimize policies for solving one particular task. How should we explore an unknown dynamical system such that the estimated model globally approximates the dynamics and allows us to solve…

Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Underwater degraded images greatly challenge existing algorithms to detect objects of interest. Recently, researchers attempt to adopt attention mechanisms or composite connections for improving the feature representation of detectors.…

To achieve high performance of a machine learning (ML) task, a deep learning-based model must implicitly capture the entire distribution from data. Thus, it requires a huge amount of training samples, and data are expected to fully present…

Tracking non-rigidly deforming scenes using range sensors has numerous applications including computer vision, AR/VR, and robotics. However, due to occlusions and physical limitations of range sensors, existing methods only handle the…

Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…

We present a method to infer a dense depth map from a color image and associated sparse depth measurements. Our main contribution lies in the design of an annealing process for determining co-visibility (occlusions, disocclusions) and the…