相关论文: Synthetic-to-Real Self-supervised Robust Depth Est…

Scene Parsing is a crucial step to enable autonomous systems to understand and interact with their surroundings. Supervised deep learning methods have made great progress in solving scene parsing problems, however, come at the cost of…

Monocular depth estimation has shown promise in general imaging tasks, aiding in localization and 3D reconstruction. While effective in various domains, its application to bronchoscopic images is hindered by the lack of labeled data,…

Video stabilization plays a central role to improve videos quality. However, despite the substantial progress made by these methods, they were, mainly, tested under standard weather and lighting conditions, and may perform poorly under…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Reliable traversability estimation is crucial for autonomous robots to navigate complex outdoor environments safely. Existing self-supervised learning frameworks primarily rely on positive and unlabeled data; however, the lack of explicit…

Acquiring labeled 6D poses from real images is an expensive and time-consuming task. Though massive amounts of synthetic RGB images are easy to obtain, the models trained on them suffer from noticeable performance degradation due to the…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

With the development of computational intelligence algorithms, unsupervised monocular depth and pose estimation framework, which is driven by warped photometric consistency, has shown great performance in the daytime scenario. While in some…

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…

Depth completion, the technique of estimating a dense depth image from sparse depth measurements, has a variety of applications in robotics and autonomous driving. However, depth completion faces 3 main challenges: the irregularly spaced…

While state-of-the-art monocular depth estimation approaches achieve impressive results in ideal settings, they are highly unreliable under challenging illumination and weather conditions, such as at nighttime or in the presence of rain. In…

Autonomous driving simulators provide an effective and low-cost alternative for evaluating or enhancing visual perception models. However, the reliability of evaluation depends on the diversity and realism of the generated scenes. Extreme…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

In this thesis, we leverage monocular cameras on aerial robots to predict depth and semantic maps in low-altitude unstructured environments. We propose a joint deep-learning architecture, named Co-SemDepth, that can perform the two tasks…

The perception of autonomous vehicles using radars has attracted increased research interest due its ability to operate in fog and bad weather. However, training radar models is hindered by the cost and difficulty of annotating large-scale…

Recent High Dynamic Range (HDR) techniques extend the capabilities of current cameras where scenes with a wide range of illumination can not be accurately captured with a single low-dynamic-range (LDR) image. This is generally accomplished…

This paper addresses the limitations of adverse weather image restoration approaches trained on synthetic data when applied to real-world scenarios. We formulate a semi-supervised learning framework employing vision-language models to…

Spacecraft Pose Estimation (SPE) is a fundamental capability for autonomous space operations such as rendezvous, docking, and in-orbit servicing. Hybrid pipelines that combine object detection, keypoint regression, and Perspective-n-Point…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

Rain fills the atmosphere with water particles, which breaks the common assumption that light travels unaltered from the scene to the camera. While it is well-known that rain affects computer vision algorithms, quantifying its impact is…