相关论文: Sparse Beats Dense: Rethinking Supervision in Rada…

The performance of image based stereo estimation suffers from lighting variations, repetitive patterns and homogeneous appearance. Moreover, to achieve good performance, stereo supervision requires sufficient densely-labeled data, which are…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

Recent advancements in Deep Learning (DL) for Direction of Arrival (DOA) estimation have highlighted its superiority over traditional methods, offering faster inference, enhanced super-resolution, and robust performance in low…

Linear Dynamical System (LDS) is an elegant mathematical framework for modeling and learning multivariate time series. However, in general, it is difficult to set the dimension of its hidden state space. A small number of hidden states may…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

With the prevalence of multimodal learning, camera-LiDAR fusion has gained popularity in 3D object detection. Although multiple fusion approaches have been proposed, they can be classified into either sparse-only or dense-only fashion based…

Depth completion is a pivotal challenge in computer vision, aiming at reconstructing the dense depth map from a sparse one, typically with a paired RGB image. Existing learning based models rely on carefully prepared but limited data,…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…

The main function of depth completion is to compensate for an insufficient and unpredictable number of sparse depth measurements of hardware sensors. However, existing research on depth completion assumes that the sparsity -- the number of…

This work presents the Large Depth Completion Model (LDCM), a simple, effective, and robust framework for single-view metric depth estimation with sparse observations. Without relying on complex architectural designs, LDCM generates…

Dense depth estimation plays a key role in multiple applications such as robotics, 3D reconstruction, and augmented reality. While sparse signal, e.g., LiDAR and Radar, has been leveraged as guidance for enhancing dense depth estimation,…

Estimating a dense and accurate depth map is the key requirement for autonomous driving and robotics. Recent advances in deep learning have allowed depth estimation in full resolution from a single image. Despite this impressive result,…

Stereo is a prominent technique to infer dense depth maps from images, and deep learning further pushed forward the state-of-the-art, making end-to-end architectures unrivaled when enough data is available for training. However, deep…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…

We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently ambiguous and unreliable, to attain a higher level of…

(This paper was written in November 2011 and never published. It is posted on arXiv.org in its original form in June 2016). Many recent object recognition systems have proposed using a two phase training procedure to learn sparse…

While an exciting diversity of new imaging devices is emerging that could dramatically improve robotic perception, the challenges of calibrating and interpreting these cameras have limited their uptake in the robotics community. In this…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…