相关论文: Leveraging Sparse LiDAR for RAFT-Stereo: A Depth P…

Stereo vision between images faces a range of challenges, including occlusions, motion, and camera distortions, across applications in autonomous driving, robotics, and face analysis. Due to parameter sensitivity, further complications…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to…

Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

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…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

Dense depth estimation plays a key role in multiple applications such as robotics, 3D reconstruction, and augmented reality. While sparse signal, e.g., LiDAR and Radar, has been leveraged as guidance for enhancing dense depth estimation,…

Stereo matching provides depth estimation from binocular images for downstream applications. These applications mostly take video streams as input and require temporally consistent depth maps. However, existing methods mainly focus on the…

We propose a new technique to obtain super-resolution images with radio interferometer using sparse modeling. In standard radio interferometry, sampling of ($u$, $v$) is quite often incomplete and thus obtaining an image from observed…

Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

This paper addresses the limitations of existing 3D Gaussian Splatting (3DGS) methods, particularly their reliance on adaptive density control, which can lead to floating artifacts and inefficient resource usage. We propose a novel densify…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

In this paper, we explore the possibility of achieving a more accurate depth estimation by fusing monocular images and Radar points using a deep neural network. We give a comprehensive study of the fusion between RGB images and Radar…

In this paper, we present LidarStereoNet, the first unsupervised Lidar-stereo fusion network, which can be trained in an end-to-end manner without the need of ground truth depth maps. By introducing a novel "Feedback Loop'' to connect the…

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…