相关论文: SteeredMarigold: Steering Diffusion Towards Depth …

Depth completion upgrades sparse depth measurements into dense depth maps guided by a conventional image. Existing methods for this highly ill-posed task operate in tightly constrained settings and tend to struggle when applied to images…

We introduce Marigold-SSD, a single-step, late-fusion depth completion framework that leverages strong diffusion priors while eliminating the costly test-time optimization typically associated with diffusion-based methods. By shifting…

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 propose SharpDepth, a novel approach to monocular metric depth estimation that combines the metric accuracy of discriminative depth estimation methods (e.g., Metric3D, UniDepth) with the fine-grained boundary sharpness typically achieved…

Recent monocular metric depth estimation (MMDE) methods have made notable progress towards zero-shot generalization. However, they still exhibit a significant performance drop on out-of-distribution datasets. We address this limitation by…

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…

Monocular depth estimation is a fundamental computer vision task. Recovering 3D depth from a single image is geometrically ill-posed and requires scene understanding, so it is not surprising that the rise of deep learning has led to a…

Conditional generative models typically demand large annotated training sets to achieve high-quality synthesis. As a result, there has been significant interest in designing models that perform plug-and-play generation, i.e., to use a…

The success of deep learning in computer vision over the past decade has hinged on large labeled datasets and strong pretrained models. In data-scarce settings, the quality of these pretrained models becomes crucial for effective transfer…

While methods for monocular depth estimation have made significant strides on standard benchmarks, zero-shot metric depth estimation remains unsolved. Challenges include the joint modeling of indoor and outdoor scenes, which often exhibit…

Depth completion, predicting dense depth maps from sparse depth measurements, is an ill-posed problem requiring prior knowledge. Recent methods adopt learning-based approaches to implicitly capture priors, but the priors primarily fit…

We propose a novel two-stage framework for sensor depth enhancement, called Perfecting Depth. This framework leverages the stochastic nature of diffusion models to automatically detect unreliable depth regions while preserving geometric…

This paper proposes a novel method for depth completion, which leverages multi-view improved monitored distillation to generate more precise depth maps. Our approach builds upon the state-of-the-art ensemble distillation method, in which we…

Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…

This work addresses the task of zero-shot monocular depth estimation. A recent advance in this field has been the idea of utilising Text-to-Image foundation models, such as Stable Diffusion. Foundation models provide a rich and generic…

We introduce a novel framework for metric depth estimation that enhances pretrained diffusion-based monocular depth estimation (DB-MDE) models with stereo vision guidance. While existing DB-MDE methods excel at predicting relative depth,…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Depth completion recovers a dense depth map from sensor measurements. Current methods are mostly tailored for very sparse depth measurements from LiDARs in outdoor settings, while for indoor scenes Time-of-Flight (ToF) or structured light…

Manipulating transparent objects presents significant challenges due to the complexities introduced by their reflection and refraction properties, which considerably hinder the accurate estimation of their 3D shapes. To address these…

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the…