相关论文: Bio-inspired reconfigurable stereo vision for robo…

We propose Differentiable Stereopsis, a multi-view stereo approach that reconstructs shape and texture from few input views and noisy cameras. We pair traditional stereopsis and modern differentiable rendering to build an end-to-end model…

The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…

This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…

We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a monocular camera with known intrinsic calibration, our network…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

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…

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…

With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…

The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Video stereo matching is the task of estimating consistent disparity maps from rectified stereo videos. There is considerable scope for improvement in both datasets and methods within this area. Recent learning-based methods often focus on…

With the developments of dual-lens camera modules,depth information representing the third dimension of thecaptured scenes becomes available for smartphones. It isestimated by stereo matching algorithms, taking as input thetwo views…

This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and non-learning ones, consume too much computational resource on…

Integrating RGB and NIR stereo imaging provides complementary spectral information, potentially enhancing robotic 3D vision in challenging lighting conditions. However, existing datasets and imaging systems lack pixel-level alignment…

Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…

In this paper we present an autonomous system for acquiring close-range high-resolution images that maximize the quality of a later-on 3D reconstruction with respect to coverage, ground resolution and 3D uncertainty. In contrast to previous…

Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…

Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…

Event cameras provide a natural and data efficient representation of visual information, motivating novel computational strategies towards extracting visual information. Inspired by the biological vision system, we propose a behavior driven…

This paper tackles the task of uncalibrated photometric stereo for 3D object reconstruction, where both the object shape, object reflectance, and lighting directions are unknown. This is an extremely difficult task, and the challenge is…