相关论文: D3RoMa: Disparity Diffusion-based Depth Sensing fo…

High-resolution (5MP+) stereo vision systems are essential for advancing robotic capabilities, enabling operation over longer ranges and generating significantly denser and accurate 3D point clouds. However, realizing the full potential of…

This paper aims to recover object materials from posed images captured under an unknown static lighting condition. Recent methods solve this task by optimizing material parameters through differentiable physically based rendering. However,…

Multi-modal 3D object detection is important for reliable perception in robotics and autonomous driving. However, its effectiveness remains limited under adverse weather conditions due to weather-induced distortions and misalignment between…

Object pose estimation is a core means for robots to understand and interact with their environment. For this task, monocular category-level methods are attractive as they require only a single RGB camera. However, current methods rely on…

Existing learning-based multi-view stereo (MVS) methods rely on the depth range to build the 3D cost volume and may fail when the range is too large or unreliable. To address this problem, we propose a disparity-based MVS method based on…

Previous raw image-based low-light image enhancement methods predominantly relied on feed-forward neural networks to learn deterministic mappings from low-light to normally-exposed images. However, they failed to capture critical…

We present PANDORA, a novel diffusion-based policy learning framework designed specifically for dexterous robotic piano performance. Our approach employs a conditional U-Net architecture enhanced with FiLM-based global conditioning, which…

Diffusion probabilistic models (DPMs) are a key component in modern generative models. DPM-solvers have achieved reduced latency and enhanced quality significantly, but have posed challenges to find the exact inverse (i.e., finding the…

Diffusion models have established new state of the art in a multitude of computer vision tasks, including image restoration. Diffusion-based inverse problem solvers generate reconstructions of exceptional visual quality from heavily…

Diffusion policies are conditional diffusion models that learn robot action distributions conditioned on the robot and environment state. They have recently shown to outperform both deterministic and alternative action distribution learning…

Ground-truth RGBD data are fundamental for a wide range of computer vision applications; however, those labeled samples are difficult to collect and time-consuming to produce. A common solution to overcome this lack of data is to employ…

In this work, we address the limitations of denoising diffusion models (DDMs) in image restoration tasks, particularly the shape and color distortions that can compromise image quality. While DDMs have demonstrated a promising performance…

We present a deep learning solution for estimating the incident illumination at any 3D location within a scene from an input narrow-baseline stereo image pair. Previous approaches for predicting global illumination from images either…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

Diffusion model (DM) has achieved SOTA performance by modeling the image synthesis process into a sequential application of a denoising network. However, different from image synthesis, image restoration (IR) has a strong constraint to…

We cast multiview reconstruction from unknown pose as a generative modeling problem. From a collection of unannotated 2D images of a scene, our approach simultaneously learns both a network to predict camera pose from 2D image input, as…

Image based rendering is a fundamental problem in computer vision and graphics. Modern techniques often rely on depth image for the 3D construction. However for most of the existing depth cameras, the large and unpredictable noises can be…

Image restoration, which aims to recover high-quality images from their corrupted counterparts, often faces the challenge of being an ill-posed problem that allows multiple solutions for a single input. However, most deep learning based…

We introduce DiffPhysCam, a differentiable camera simulator designed to support robotics and embodied AI applications by enabling gradient-based optimization in visual perception pipelines. Generating synthetic images that closely mimic…

We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system controls the motion…