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

Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth sensors such as LiDARs are often heavy, expensive and can only…

Existing depth completion methods are often targeted at a specific sparse depth type and generalize poorly across task domains. We present a method to complete sparse/semi-dense, noisy, and potentially low-resolution depth maps obtained by…

Depth completion is crucial for many robotic tasks such as autonomous driving, 3-D reconstruction, and manipulation. Despite the significant progress, existing methods remain computationally intensive and often fail to meet the real-time…

Moving object detection is a critical task for autonomous vehicles. As dynamic objects represent higher collision risk than static ones, our own ego-trajectories have to be planned attending to the future states of the moving elements of…

Transparent and reflective objects in everyday environments pose significant challenges for depth sensors due to their unique visual properties, such as specular reflections and light transmission. These characteristics often lead to…

Unsupervised object discovery, the task of identifying and localizing objects in images without human-annotated labels, remains a significant challenge and a growing focus in computer vision. In this work, we introduce a novel model, DADO…

This paper introduces a large-scale, high-precision LiDAR-Inertial Odometry (LIO) dataset, aiming to address the insufficient validation of LIO systems in complex real-world scenarios in existing research. The dataset covers four diverse…

Accurate dense depth estimation is crucial for autonomous vehicles to analyze their environment. This paper presents a non-deep learning-based approach to densify a sparse LiDAR-based depth map using a guidance RGB image. To achieve this…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

Complete depth information and efficient estimators have become vital ingredients in scene understanding for automated driving tasks. A major problem for LiDAR-based depth completion is the inefficient utilization of convolutions due to the…

We present a deep model that can accurately produce dense depth maps given an RGB image with known depth at a very sparse set of pixels. The model works simultaneously for both indoor/outdoor scenes and produces state-of-the-art dense depth…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Deep learning has shown great potential in accelerating diffusion tensor imaging (DTI). Nevertheless, existing methods tend to suffer from Rician noise and detail loss in reconstructing the DTI-derived parametric maps especially when…

The advancement of autonomous drones, essential for sectors such as remote sensing and emergency services, is hindered by the absence of training datasets that fully capture the environmental challenges present in real-world scenarios,…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Depth enhancement, which converts raw dToF signals into dense depth maps using RGB guidance, is crucial for improving depth perception in high-precision tasks such as 3D reconstruction and SLAM. However, existing methods often assume ideal…

This work introduces an evaluation benchmark for depth estimation and completion using high-resolution depth measurements with angular resolution of up to 25" (arcsecond), akin to a 50 megapixel camera with per-pixel depth available.…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…