相关论文: DidSee: Diffusion-Based Depth Completion for Mater…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

Monocular normal estimation for transparent objects is critical for laboratory automation, yet it remains challenging due to complex light refraction and reflection. These optical properties often lead to catastrophic failures in…

Monocular depth estimation is a challenging task that predicts the pixel-wise depth from a single 2D image. Current methods typically model this problem as a regression or classification task. We propose DiffusionDepth, a new approach that…

Blind Face Restoration aims to recover high-fidelity, detail-rich facial images from unknown degraded inputs, presenting significant challenges in preserving both identity and detail. Pre-trained diffusion models have been increasingly used…

Training diffusion models that work directly on lidar points at the scale of outdoor scenes is challenging due to the difficulty of generating fine-grained details from white noise over a broad field of view. The latest works addressing…

Previous raw image-based low-light image enhancement methods predominantly relied on feed-forward neural networks to learn deterministic mappings from low-light to normally-exposed images. However, they failed to capture critical…

This paper's primary objective is to develop a robust generalist perception model capable of addressing multiple tasks under constraints of computational resources and limited training data. We leverage text-to-image diffusion models…

Performing super-resolution of a depth image using the guidance from an RGB image is a problem that concerns several fields, such as robotics, medical imaging, and remote sensing. While deep learning methods have achieved good results in…

While Diffusion Large Language Models (DLLMs) have demonstrated remarkable capabilities in multi-modal generation, performing precise, training-free image editing remains an open challenge. Unlike continuous diffusion models, the discrete…

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…

We introduce a new diffusion-based approach for shape completion on 3D range scans. Compared with prior deterministic and probabilistic methods, we strike a balance between realism, multi-modality, and high fidelity. We propose DiffComplete…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Depth cameras are a prominent perception system for robotics, especially when operating in natural unstructured environments. Industrial applications, however, typically involve reflective objects under harsh lighting conditions, a…

Recent text-guided generation of individual 3D object has achieved great success using diffusion priors. However, these methods are not suitable for object insertion and replacement tasks as they do not consider the background, leading to…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

Even if the depth maps captured by RGB-D sensors deployed in real environments are often characterized by large areas missing valid depth measurements, the vast majority of depth completion methods still assumes depth values covering all…

Image generative models, particularly diffusion-based models, have surged in popularity due to their remarkable ability to synthesize highly realistic images. However, since these models are data-driven, they inherit biases from the…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

Accurate camera calibration is a fundamental task for 3D perception, especially when dealing with real-world, in-the-wild environments where complex optical distortions are common. Existing methods often rely on pre-rectified images or…