相关论文: DOC-Depth: A novel approach for dense depth ground…

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…

Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applications such as autonomous driving, 3D reconstruction, augmented…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

Visual Multi-Object Tracking (MOT) is a crucial component of robotic perception, yet existing Tracking-By-Detection (TBD) methods often rely on 2D cues, such as bounding boxes and motion modeling, which struggle under occlusions and…

Accurate depth estimation under out-of-distribution (OoD) scenarios, such as adverse weather conditions, sensor failure, and noise contamination, is desirable for safety-critical applications. Existing depth estimation systems, however,…

Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth…

The search for refining 3D LiDAR data has attracted growing interest motivated by recent techniques such as supervised learning or generative model-based methods. Existing approaches have shown the possibilities for using diffusion models…

There has been a recent surge of interest in learning to perceive depth from monocular videos in an unsupervised fashion. A key challenge in this field is achieving robust and accurate depth estimation in challenging scenarios, particularly…

Advances in neural networks enable tackling complex computer vision tasks such as depth estimation of outdoor scenes at unprecedented accuracy. Promising research has been done on depth estimation. However, current efforts are…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

In this paper, we propose a novel 3D object detector that can exploit both LIDAR as well as cameras to perform very accurate localization. Towards this goal, we design an end-to-end learnable architecture that exploits continuous…

Recently, 3D version has been improved greatly due to the development of deep neural networks. A high quality dataset is important to the deep learning method. Existing datasets for 3D vision has been constructed, such as Bigbird and YCB.…

Prompts play a critical role in unleashing the power of language and vision foundation models for specific tasks. For the first time, we introduce prompting into depth foundation models, creating a new paradigm for metric depth estimation…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…

Depth estimation is a crucial technology in robotics. Recently, self-supervised depth estimation methods have demonstrated great potential as they can efficiently leverage large amounts of unlabelled real-world data. However, most existing…

Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

We formulate monocular depth estimation using denoising diffusion models, inspired by their recent successes in high fidelity image generation. To that end, we introduce innovations to address problems arising due to noisy, incomplete depth…