相关论文: Robust and Flexible Omnidirectional Depth Estimati…

Omnidirectional cameras are extensively used in various applications to provide a wide field of vision. However, they face a challenge in synthesizing novel views due to the inevitable presence of dynamic objects, including the…

Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…

The growing use of wide angle image capture devices and the need for fast and accurate image analysis in computer visions have enforced the need for dedicated under-representation approaches. Most recent decomposition methods segment an…

360-degree visual content is widely shared on platforms such as YouTube and plays a central role in virtual reality, robotics, and autonomous navigation. However, consumer-grade dual-fisheye systems consistently yield imperfect panoramas…

Due to the current lack of large-scale datasets at the million-scale level, tasks involving panoramic images predominantly rely on existing two-dimensional pre-trained image benchmark models as backbone networks. However, these networks are…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

We address the problem of joint optical flow and camera motion estimation in rigid scenes by incorporating geometric constraints into an unsupervised deep learning framework. Unlike existing approaches which rely on brightness constancy and…

The paper presents a novel approach to occlusion handling problem in depth estimation using three views. A solution based on modification of similarity cost function is proposed. During the depth estimation via optimization algorithms like…

Although significant progress has been made in room layout estimation, most methods aim to reduce the loss in the 2D pixel coordinate rather than exploiting the room structure in the 3D space. Towards reconstructing the room layout in 3D,…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

Achieving safe, high-speed autonomous flight in complex environments with static, dynamic, or mixed obstacles remains challenging, as a single perception modality is incomplete. Depth cameras are effective for static objects but suffer from…

360{\deg} images are usually represented in either equirectangular projection (ERP) or multiple perspective projections. Different from the flat 2D images, the detection task is challenging for 360{\deg} images due to the distortion of ERP…

We present a novel 3D mapping pipeline for large-scale indoor environments. To address the significant challenges in large-scale indoor scenes, such as prevalent occlusions and textureless regions, we propose IM360, a novel approach that…

Recent techniques in self-supervised monocular depth estimation are approaching the performance of supervised methods, but operate in low resolution only. We show that high resolution is key towards high-fidelity self-supervised monocular…

While a traditional camera only captures one point of view of a scene, a plenoptic or light-field camera, is able to capture spatial and angular information in a single snapshot, enabling depth estimation from a single acquisition. In this…

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be…

We propose HYBRIDDEPTH, a robust depth estimation pipeline that addresses key challenges in depth estimation,including scale ambiguity, hardware heterogeneity, and generalizability. HYBRIDDEPTH leverages focal stack, data conveniently…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

We present a novel data set made up of omnidirectional video of multiple objects whose centroid positions are annotated automatically. Omnidirectional vision is an active field of research focused on the use of spherical imagery in video…

This paper addresses the problem of scale estimation in monocular SLAM by estimating absolute distances between camera centers of consecutive image frames. These estimates would improve the overall performance of classical (not deep) SLAM…