相关论文: Depth Helps: Improving Pre-trained RGB-based Polic…

Depth maps produced by consumer-grade sensors suffer from inaccurate measurements and missing data from either system or scene-specific sources. Data-driven denoising algorithms can mitigate such problems. However, they require vast amounts…

Efficiently estimating system dynamics from data is essential for minimizing data collection costs and improving model performance. This work addresses the challenge of designing future control inputs to maximize information gain, thereby…

Vision foundation models (VFMs) have emerged as powerful tools for surgical scene understanding. However, current approaches predominantly rely on unimodal RGB pre-training, overlooking the complex 3D geometry inherent to surgical…

Inertial mass plays a crucial role in robotic applications such as object grasping, manipulation, and simulation, providing a strong prior for planning and control. Accurately estimating an object's mass before interaction can significantly…

Fake content has grown at an incredible rate over the past few years. The spread of social media and online platforms makes their dissemination on a large scale increasingly accessible by malicious actors. In parallel, due to the growing…

6D pose estimation of textureless objects is valuable for industrial robotic applications, yet remains challenging due to the frequent loss of depth information. Current multi-view methods either rely on depth data or insufficiently exploit…

Depth enhancement, which converts raw dToF signals into dense depth maps using RGB guidance, is crucial for improving depth perception in high-precision tasks such as 3D reconstruction and SLAM. However, existing methods often assume ideal…

Robotic arm grasping is a fundamental operation in robotic control task goals. Most current methods for robotic grasping focus on RGB-D policy in the table surface scenario or 3D point cloud analysis and inference in the 3D space. Comparing…

RGB-D has gradually become a crucial data source for understanding complex scenes in assisted driving. However, existing studies have paid insufficient attention to the intrinsic spatial properties of depth maps. This oversight…

The incorporation of world modeling into manipulation policy learning has pushed the boundary of manipulation performance. However, existing efforts simply model the 2D visual dynamics, which is insufficient for robust manipulation when…

Commercial RGB-D cameras often produce noisy, incomplete depth maps for non-Lambertian objects. Traditional depth completion methods struggle to generalize due to the limited diversity and scale of training data. Recent advances exploit…

Depth sensing is crucial for 3D reconstruction and scene understanding. Active depth sensors provide dense metric measurements, but often suffer from limitations such as restricted operating ranges, low spatial resolution, sensor…

2D face recognition encounters challenges in unconstrained environments due to varying illumination, occlusion, and pose. Recent studies focus on RGB-D face recognition to improve robustness by incorporating depth information. However,…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Monocular depth estimation from RGB images plays a pivotal role in 3D vision. However, its accuracy can deteriorate in challenging environments such as nighttime or adverse weather conditions. While long-wave infrared cameras offer stable…

Transparent and reflective objects in everyday environments pose significant challenges for depth sensors due to their unique visual properties, such as specular reflections and light transmission. These characteristics often lead to…

This paper proposes a method for hand pose estimation from RGB images that uses both external large-scale depth image datasets and paired depth and RGB images as privileged information at training time. We show that providing depth…

RGB-D scene parsing methods effectively capture both semantic and geometric features of the environment, demonstrating great potential under challenging conditions such as extreme weather and low lighting. However, existing RGB-D scene…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…