相关论文: Bio-inspired reconfigurable stereo vision for robo…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…
We present the design of a productionized end-to-end stereo depth sensing system that does pre-processing, online stereo rectification, and stereo depth estimation with a fallback to monocular depth estimation when rectification is…
Stereo vision is essential for many applications. Currently, the synchronization of the streams coming from two cameras is done using mostly hardware. A software-based synchronization method would reduce the cost, weight and size of the…
The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in…
Whether to attract viewer attention to a particular object, give the impression of depth or simply reproduce human-like scene perception, shallow depth of field images are used extensively by professional and amateur photographers alike. To…
We propose a novel monocular visual odometry (VO) system called UnDeepVO in this paper. UnDeepVO is able to estimate the 6-DoF pose of a monocular camera and the depth of its view by using deep neural networks. There are two salient…
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…
Multi-view stereo reconstruction (MVS) in the wild requires to first estimate the camera parameters e.g. intrinsic and extrinsic parameters. These are usually tedious and cumbersome to obtain, yet they are mandatory to triangulate…
The manufacturing industry is currently witnessing a paradigm shift with the unprecedented adoption of industrial robots, and machine vision is a key perception technology that enables these robots to perform precise operations in…
The growing demand for immersive 3D content calls for automated monocular-to-stereo video conversion. We present Elastic3D, a controllable, direct end-to-end method for upgrading a conventional video to a binocular one. Our approach, based…
Arthroscopic procedures can greatly benefit from navigation systems that enhance spatial awareness, depth perception, and field of view. However, existing optical tracking solutions impose strict workspace constraints and disrupt surgical…
Current stereo matching techniques are challenged by restricted searching space, occluded regions and sheer size. While single image depth estimation is spared from these challenges and can achieve satisfactory results with the extracted…
Gaze stabilization is fundamental for humanoid robots. By stabilizing vision, it enhances perception of the environment and keeps points of interest in the field of view. In this contribution, a multimodal gaze stabilization combining…
This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…
Deep learning techniques have enabled rapid progress in monocular depth estimation, but their quality is limited by the ill-posed nature of the problem and the scarcity of high quality datasets. We estimate depth from a single camera by…
Stereo reconstruction models trained on small images do not generalize well to high-resolution data. Training a model on high-resolution image size faces difficulties of data availability and is often infeasible due to limited computing…
Underwater stereo depth estimation provides accurate 3D geometry for robotics tasks such as navigation, inspection, and mapping, offering metric depth from low-cost passive cameras while avoiding the scale ambiguity of monocular methods.…
Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…
This paper describes a multimodal vision sensor that integrates three types of cameras, including a stereo camera, a polarization camera and a panoramic camera. Each sensor provides a specific dimension of information: the stereo camera…