相关论文: Geometry-Constrained Monocular Scale Estimation Us…

Estimating geometry from dynamic scenes, where objects move and deform over time, remains a core challenge in computer vision. Current approaches often rely on multi-stage pipelines or global optimizations that decompose the problem into…

Robust 3D geometry estimation from videos is critical for applications such as autonomous navigation, SLAM, and 3D scene reconstruction. Recent methods like DUSt3R demonstrate that regressing dense pointmaps from image pairs enables…

Monocular 3D object detection (Mono3D) is a fundamental computer vision task that estimates an object's class, 3D position, dimensions, and orientation from a single image. Its applications, including autonomous driving, augmented reality,…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

The presence of spherical distortion in equirectangular projection (ERP) images presents a persistent challenge in dense regression tasks such as surface normal estimation. Although it may appear straightforward to repurpose architectures…

The performance of visual SLAM in complex, real-world scenarios is often compromised by unreliable feature extraction and matching when using handcrafted features. Although deep learning-based local features excel at capturing high-level…

While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors. RGB-only methods provide an alternative to this problem yet…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in terms of evaluation metrics such as the pixel-wise relative error, most methods neglect the…

Image-based depth estimation has gained significant attention in recent research on computer vision for autonomous vehicles in intelligent transportation systems. This focus stems from its cost-effectiveness and wide range of potential…

(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency 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…

Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…

New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of…

Accurate and robust localization remains a significant challenge for autonomous vehicles. The cost of sensors and limitations in local computational efficiency make it difficult to scale to large commercial applications. Traditional…

Segmentation of moving objects in dynamic scenes is a key process in scene understanding for navigation tasks. Classical cameras suffer from motion blur in such scenarios rendering them effete. On the contrary, event cameras, because of…

Monocular depth estimation is an especially important task in robotics and autonomous driving, where 3D structural information is essential. However, extreme lighting conditions and complex surface objects make it difficult to predict depth…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…