相关论文: Stereo-LiDAR Depth Estimation with Deformable Prop…

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…

Deep stereo matching has made significant progress in recent years. However, state-of-the-art methods are based on expensive 4D cost volume, which limits their use in real-world applications. To address this issue, 3D correlation maps and…

We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniques: Semi-Global Matching (SGM) stereo with Discrete…

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,…

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…

We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…

In stereo-matching knowledge distillation methods of the self-supervised monocular depth estimation, the stereo-matching network's knowledge is distilled into a monocular depth network through pseudo-depth maps. In these methods, the…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Despite stereo matching accuracy has greatly improved by deep learning in the last few years, recovering sharp boundaries and high-resolution outputs efficiently remains challenging. In this paper, we propose Stereo Mixture Density Networks…

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…

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…

We propose a novel plug-and-play (PnP) module for improving depth prediction with taking arbitrary patterns of sparse depths as input. Given any pre-trained depth prediction model, our PnP module updates the intermediate feature map such…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

This paper introduces a novel deep framework for dense 3D reconstruction from multiple image frames, leveraging a sparse set of depth measurements gathered jointly with image acquisition. Given a deep multi-view stereo network, our…

An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…