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

In this paper, we look into the problem of estimating per-pixel depth maps from unconstrained RGB monocular night-time images which is a difficult task that has not been addressed adequately in the literature. The state-of-the-art day-time…

Vision transformers (ViTs) - especially feature foundation models like DINOv2 - learn rich representations useful for many downstream tasks. However, architectural choices (such as positional encoding) can lead to these models displaying…

With the ever-increasing amount of data, the central challenge in multimodal learning involves limitations of labelled samples. For the task of classification, techniques such as meta-learning, zero-shot learning, and few-shot learning…

Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…

Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…

Large-scale, volumetric medical imaging datasets typically aggregate scans from different vendors and devices, resulting in highly variable resolution, slice thicknesses, and numbers of slices per study. Consequently, training…

While methods for monocular depth estimation have made significant strides on standard benchmarks, zero-shot metric depth estimation remains unsolved. Challenges include the joint modeling of indoor and outdoor scenes, which often exhibit…

Depth images have a wide range of applications, such as 3D reconstruction, autonomous driving, augmented reality, robot navigation, and scene understanding. Commodity-grade depth cameras are hard to sense depth for bright, glossy,…

Panoptic segmentation is an important computer vision task, where the current state-of-the-art solutions require specialized components to perform well. We propose a simple generalist framework based on a deep encoder - shallow decoder…

Vision-Language Models (VLMs) have demonstrated strong performance across various multimodal tasks, where position encoding plays a vital role in modeling both the sequential structure of textual information and the spatial structure of…

In this paper, we formulate a potentially valuable panoramic depth completion (PDC) task as panoramic 3D cameras often produce 360{\deg} depth with missing data in complex scenes. Its goal is to recover dense panoramic depths from raw…

Recent approaches have shown that training deep neural networks directly on large-scale image-text pair collections enables zero-shot transfer on various recognition tasks. One central issue is how this can be generalized to object…

Vision-language models (VLMs) struggle in open-world applications, where out-of-distribution (OOD) concepts often trigger cross-modal alignment collapse and severely degrade zero-shot performance. We identify the root cause as modal…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way,…

In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…

Depth information has proven to be a useful cue in the semantic segmentation of RGB-D images for providing a geometric counterpart to the RGB representation. Most existing works simply assume that depth measurements are accurate and…