相关论文: RePLAy: Remove Projective LiDAR Depthmap Artifacts…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…

Monocular 3D object detection aims to extract the 3D position and properties of objects from a 2D input image. This is an ill-posed problem with a major difficulty lying in the information loss by depth-agnostic cameras. Conventional…

Near-range portrait photographs often contain perspective distortion artifacts that bias human perception and challenge both facial recognition and reconstruction techniques. We present the first deep learning based approach to remove such…

The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…

Pseudo-LiDAR 3D detectors have made remarkable progress in monocular 3D detection by enhancing the capability of perceiving depth with depth estimation networks, and using LiDAR-based 3D detection architectures. The advanced stereo 3D…

Retrospective artifact correction (RAC) improves image quality post acquisition and enhances image usability. Recent machine learning driven techniques for RAC are predominantly based on supervised learning and therefore practical utility…

Monocular 3D object detection is an important task in autonomous driving. It can be easily intractable where there exists ego-car pose change w.r.t. ground plane. This is common due to the slight fluctuation of road smoothness and slope.…

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…

This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and non-learning ones, consume too much computational resource on…

Reconstructing transparent objects using affordable RGB-D cameras is a persistent challenge in robotic perception due to inconsistent appearances across views in the RGB domain and inaccurate depth readings in each single-view. We introduce…

Range-view (RV) based LiDAR diffusion has recently made huge strides towards 2D photo-realism. However, it neglects 3D geometry realism and often generates various RV artifacts such as depth bleeding and wavy surfaces. We design L3DR, a…

Foundation models like CLIP (Contrastive Language-Image Pretraining) have revolutionized vision-language tasks by enabling zero-shot and few-shot learning through cross-modal alignment. However, their computational complexity and large…

This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…

The goal of perception for autonomous vehicles is to extract semantic representations from multiple sensors and fuse these representations into a single "bird's-eye-view" coordinate frame for consumption by motion planning. We propose a new…

Depth estimation is an essential component in understanding the 3D geometry of a scene, with numerous applications in urban and indoor settings. These scenes are characterized by a prevalence of human made structures, which in most of the…

Image outpainting technology generates visually plausible content regardless of authenticity, making it unreliable to be applied in practice. Thus, we propose a reliable image outpainting task, introducing the sparse depth from LiDARs to…

Large field-of-view fisheye lens cameras have attracted more and more researchers' attention in the field of robotics. However, there does not exist a convenient off-the-shelf stereo rectification approach which can be applied directly to…

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on…

Computed Tomography (CT) using synchrotron radiation is a powerful technique that, compared to lab-CT techniques, boosts high spatial and temporal resolution while also providing access to a range of contrast-formation mechanisms. The…