相关论文: Vanishing Depth: A Depth Adapter with Positional D…

In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data. Our goal is to predict the 3D shape, size, and 6D pose of objects within a single RGB-D image, operating at the…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

We present a new video compression framework (ViSTRA2) which exploits adaptation of spatial resolution and effective bit depth, down-sampling these parameters at the encoder based on perceptual criteria, and up-sampling at the decoder using…

Cross-view object geo-localization enables high-precision object localization through cross-view matching, with critical applications in autonomous driving, urban management, and disaster response. However, existing methods rely on…

Stereo depth estimation is fundamental to underwater robotic perception, yet suffers from severe domain shifts caused by wavelength-dependent light attenuation, scattering, and refraction. Recent approaches leverage monocular foundation…

General object detection (OD) struggles to detect objects in the target domain that differ from the training distribution. To address this, recent studies demonstrate that training from multiple source domains and explicitly processing them…

In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…

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…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

In this paper, we propose a new progressive pre-training method for image understanding tasks which leverages RGB-D datasets. The method utilizes Multi-Modal Contrastive Masked Autoencoder and Denoising techniques. Our proposed approach…

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D…

Depth completion in dynamic scenes poses significant challenges due to rapid ego-motion and object motion, which can severely degrade the quality of input modalities such as RGB images and LiDAR measurements. Conventional RGB-D sensors…

Recently, deep learning-based image compression has made signifcant progresses, and has achieved better ratedistortion (R-D) performance than the latest traditional method, H.266/VVC, in both subjective metric and the more challenging…

Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

In this paper, we claim that spatial understanding is the keypoint in robot manipulation, and propose SpatialVLA to explore effective spatial representations for the robot foundation model. Specifically, we introduce Ego3D Position Encoding…

Model generalizability to unseen datasets, concerned with in-the-wild robustness, is less studied for indoor single-image depth prediction. We leverage gradient-based meta-learning for higher generalizability on zero-shot cross-dataset…

Vision foundation models (VFMs) have emerged as powerful tools for surgical scene understanding. However, current approaches predominantly rely on unimodal RGB pre-training, overlooking the complex 3D geometry inherent to surgical…