相关论文: Depth as Points: Center Point-based Depth Estimati…

Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…

Unlike humans, who can effortlessly estimate the entirety of objects even when partially occluded, modern computer vision algorithms still find this aspect extremely challenging. Leveraging this amodal perception for autonomous driving…

We introduce Point-MVSNet, a novel point-based deep framework for multi-view stereo (MVS). Distinct from existing cost volume approaches, our method directly processes the target scene as point clouds. More specifically, our method predicts…

Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…

Current computer vision tasks based on deep learning require a huge amount of data with annotations for model training or testing, especially in some dense estimation tasks, such as optical flow segmentation and depth estimation. In…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Self-supervised monocular methods can efficiently learn depth information of weakly textured surfaces or reflective objects. However, the depth accuracy is limited due to the inherent ambiguity in monocular geometric modeling. In contrast,…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

This work introduces a new approach for joint detection of centerlines based on image data by localizing the features jointly in 2D and 3D. In contrast to existing work that focuses on detection of visual cues, we explore feature extraction…

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be…

Point cloud based methods have produced promising results in areas such as 3D object detection in autonomous driving. However, most of the recent point cloud work focuses on single depth sensor data, whereas less work has been done on…

LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their…

The construction of vectorized High-Definition (HD) maps from onboard surround-view cameras has become a significant focus in autonomous driving. However, current map vector estimation pipelines face two key limitations: input-agnostic…

Autonomous vehicles are heavily reliant upon their sensors to perfect the perception of surrounding environments, however, with the current state of technology, the data which a vehicle uses is confined to that from its own sensors. Data…

Depth estimation features are helpful for 3D recognition. Commodity-grade depth cameras are able to capture depth and color image in real-time. However, glossy, transparent or distant surface cannot be scanned properly by the sensor. As a…

Self-supervised depth estimation draws a lot of attention recently as it can promote the 3D sensing capabilities of self-driving vehicles. However, it intrinsically relies upon the photometric consistency assumption, which hardly holds…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Depth estimation from a monocular 360{\deg} image is a burgeoning problem owing to its holistic sensing of a scene. Recently, some methods, \eg, OmniFusion, have applied the tangent projection (TP) to represent a 360{\deg}image and…

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…

In this paper, we propose a novel video depth estimation approach, FutureDepth, which enables the model to implicitly leverage multi-frame and motion cues to improve depth estimation by making it learn to predict the future at training.…