相关论文: Feature Geometry for Stereo Sidescan and Forward-l…
Images captured in participating media such as murky water, fog, or smoke are degraded by scattered light. Thus, the use of traditional three-dimensional (3D) reconstruction techniques in such environments is difficult. In this paper, we…
Registration of optical and synthetic aperture radar (SAR) remote sensing images serves as a critical foundation for image fusion and visual navigation tasks. This task is particularly challenging because of their modal discrepancy,…
Vision-based metric distance and area measurement remains challenging in large-scale outdoor environments due to long-range sensing, camera zoom, and unstable imaging conditions. This work studies planar metric measurement in a real-world…
This paper tackles the challenges of self-supervised monocular depth estimation in indoor scenes caused by large rotation between frames and low texture. We ease the learning process by obtaining coarse camera poses from monocular sequences…
This paper focuses on perceiving and navigating 3D environments using echoes and RGB image. In particular, we perform depth estimation by fusing RGB image with echoes, received from multiple orientations. Unlike previous works, we go beyond…
Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise, which makes using raw data for any meaningful inference…
This paper addresses the problem of localizing audio sources using binaural measurements. We propose a supervised formulation that simultaneously localizes multiple sources at different locations. The approach is intrinsically efficient…
Acoustoelectric (AE) imaging provides electro-anatomical contrast by mapping the distribution of electric fields in biological tissues, by delivering ultrasound waves which spatially modulate the medium resistivity via the AE effect. The…
Tremendous progress has been made in deep stereo matching to excel on benchmark datasets through per-domain fine-tuning. However, achieving strong zero-shot generalization - a hallmark of foundation models in other computer vision tasks -…
In ultrasound beamforming, focusing time delays are typically computed with a spatially constant speed-of-sound (SoS) assumption. A mismatch between beamforming and true medium SoS then leads to aberration artifacts. Other imaging…
Camera-based 3D object detectors are welcome due to their wider deployment and lower price than LiDAR sensors. We first revisit the prior stereo detector DSGN for its stereo volume construction ways for representing both 3D geometry and…
We present a system for measuring the amplitude and phase profiles of the pressure field of a harmonic acoustic wave with the goal of reconstructing the volumetric sound field. Unlike optical holograms that cannot be reconstructed exactly…
Sound source proximity and distance estimation are of great interest in many practical applications, since they provide significant information for acoustic scene analysis. As both tasks share complementary qualities, ensuring efficient…
Fourier imaging is an indirect imaging method which records the diffraction pattern of the object scene coherently in the focal plane of the imaging system and reconstructs the image using computational resources. The spatial resolution,…
Mirror reflections are common in everyday environments and can provide stereo information within a single capture, as the real and reflected virtual views are visible simultaneously. We exploit this property by treating the reflection as an…
In this paper, we study the problem of stereo matching from a pair of images with different resolutions, e.g., those acquired with a tele-wide camera system. Due to the difficulty of obtaining ground-truth disparity labels in diverse…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…
We propose Gated Stereo, a high-resolution and long-range depth estimation technique that operates on active gated stereo images. Using active and high dynamic range passive captures, Gated Stereo exploits multi-view cues alongside…
Active-stereo-based 3D shape measurement is crucial for various purposes, such as industrial inspection, reverse engineering, and medical systems, due to its strong ability to accurately acquire the shape of textureless objects. Active…