相关论文: Rethinking Transparent Object Grasping: Depth Comp…
RGB-D tracking significantly improves the accuracy of object tracking. However, its dependency on real depth inputs and the complexity involved in multi-modal fusion limit its applicability across various scenarios. The utilization of depth…
Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…
Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…
Purpose: Monocular depth estimation (MDE) is vital for scene understanding in minimally invasive surgery (MIS). However, endoscopic video sequences are often contaminated by smoke, specular reflections, blur, and occlusions, limiting the…
3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…
Depth estimation from monocular endoscopic images presents significant challenges due to the complexity of endoscopic surgery, such as irregular shapes of human soft tissues, as well as variations in lighting conditions. Existing methods…
Monocular depth estimation is an ill-posed problem as the same 2D image can be projected from infinite 3D scenes. Although the leading algorithms in this field have reported significant improvement, they are essentially geared to the…
Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…
Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…
This paper presents a comprehensive pipeline for recognizing objects targeted by human pointing gestures using RGB images. As human-robot interaction moves toward more intuitive interfaces, the ability to identify targets of non-verbal…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Indoor robots rely on depth to perform tasks like navigation or obstacle detection, and single-image depth estimation is widely used to assist perception. Most indoor single-image depth prediction focuses less on model generalizability to…
Depth completion aims at inferring a dense depth image from sparse depth measurement since glossy, transparent or distant surface cannot be scanned properly by the sensor. Most of existing methods directly interpolate the missing depth…
Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…
Understanding and reconstructing occluded objects is a challenging problem, especially in open-world scenarios where categories and contexts are diverse and unpredictable. Traditional methods, however, are typically restricted to closed…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…
We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…
Due to the visual properties of reflection and refraction, RGB-D cameras cannot accurately capture the depth of transparent objects, leading to incomplete depth maps. To fill in the missing points, recent studies tend to explore new visual…
We propose SelfRecon, a clothed human body reconstruction method that combines implicit and explicit representations to recover space-time coherent geometries from a monocular self-rotating human video. Explicit methods require a predefined…