相关论文: Converting Depth Images and Point Clouds for Featu…

Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…

The past few years have witnessed great progress in the domain of face recognition thanks to advances in deep learning. However, cross pose face recognition remains a significant challenge. It is difficult for many deep learning algorithms…

This paper addresses the problem of learning to complete a scene's depth from sparse depth points and images of indoor scenes. Specifically, we study the case in which the sparse depth is computed from a visual-inertial simultaneous…

Depth information plays a crucial role in autonomous systems for environmental perception and robot state estimation. With the rapid development of deep neural network technology, depth estimation has been extensively studied and shown…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

Depth in the real world is rarely singular. Transmissive materials create layered ambiguities that confound conventional perception systems. Existing models remain passive; conventional approaches typically estimate static depth maps…

This paper presents a novel scheme to efficiently compress Light Detection and Ranging~(LiDAR) point clouds, enabling high-precision 3D scene archives, and such archives pave the way for a detailed understanding of the corresponding 3D…

Existing depth sensors are imperfect and may provide inaccurate depth values in challenging scenarios, such as in the presence of transparent or reflective objects. In this work, we present a general framework that leverages polarization…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

Extracting depth information from photon-limited, defocused images is challenging because depth from defocus (DfD) relies on accurate estimation of defocus blur, which is fundamentally sensitive to image noise. We present a novel approach…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

This paper proposes a fast and accurate surface normal estimation method which can be directly used on depth maps (organized point clouds). The surface normal estimation process is formulated as a closed-form expression. In order to reduce…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

To realize low-latency spatial transmission system for immersive telepresence, there are two major problems: capturing dynamic 3D scene densely and processing them in real time. LiDAR sensors capture 3D in real time, but produce sparce…

Mask-based lensless cameras replace the lens of a conventional camera with a custom mask. These cameras can potentially be very thin and even flexible. Recently, it has been demonstrated that such mask-based cameras can recover light…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…