相关论文: Feature Geometry for Stereo Sidescan and Forward-l…
Traditional stereo algorithms have focused their efforts on reconstruction quality and have largely avoided prioritizing for run time performance. Robots, on the other hand, require quick maneuverability and effective computation to observe…
Foundation features from self-supervised vision models and text-to-image diffusion models have proven effective for semantic correspondence estimation. However, because these features are learned primarily from 2D image objectives, they…
The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…
Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…
Joint audio-visual speaker tracking requires that the locations of microphones and cameras are known and that they are given in a common coordinate system. Sensor self-localization algorithms, however, are usually separately developed for…
Prevalent neuroscientific theories are combined with acoustic observations from various studies to create a consistent geometric model for music perception in order to rationalize, explain and predict psycho-acoustic phenomena. The space of…
Semi-Global Matching (SGM) is a widely-used efficient stereo matching technique. It works well for textured scenes, but fails on untextured slanted surfaces due to its fronto-parallel smoothness assumption. To remedy this problem, we…
We consider the problem of optimizing neural implicit surfaces for 3D reconstruction using acoustic images collected with drifting sensor poses. The accuracy of current state-of-the-art 3D acoustic modeling algorithms is highly dependent on…
Recently, end-to-end trainable deep neural networks have significantly improved stereo depth estimation for perspective images. However, 360{\deg} images captured under equirectangular projection cannot benefit from directly adopting…
The combination of range sensors with color cameras can be very useful for robot navigation, semantic perception, manipulation, and telepresence. Several methods of combining range- and color-data have been investigated and successfully…
This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…
In low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…
This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various…
This paper as technology report is focusing on evaluation and performance about depth estimations based on lidar data and stereo images(front left and front right). The lidar 3d cloud data and stereo images are provided by ford. In…
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information.…
We present a semi-analytical geometrical acoustics method to numerically simulate ultrasonic signal characteristics pertinent to motion sensing applications in indoor environments. The proposed methodology treats motion sensing from the…
This paper describes the development of a detailed 3D geometric model of an acoustical guitar. Modeling an instrument is a sophisticated task considering the individual parts and their complex shapes. The geometry of the parts visible from…
Remote sensing (RS) images are important to monitor and survey earth at varying spatial scales. Continuous observations from various RS sources complement single observations to improve applications. Fusion into single or multiple images…
Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…
In addition to color and textural information, geometry provides important cues for 3D scene reconstruction. However, current reconstruction methods only include geometry at the feature level thus not fully exploiting the geometric…