相关论文: DEPTHOR++: Robust Depth Enhancement from a Real-Wo…

Depth enhancement, which uses RGB images as guidance to convert raw signals from dToF into high-precision, dense depth maps, is a critical task in computer vision. Although existing super-resolution-based methods show promising results on…

Depth map enhancement using paired high-resolution RGB images offers a cost-effective solution for improving low-resolution depth data from lightweight ToF sensors. Nevertheless, naively adopting a depth estimation pipeline to fuse the two…

Light-weight time-of-flight (ToF) depth sensors are small, cheap, low-energy and have been massively deployed on mobile devices for the purposes like autofocus, obstacle detection, etc. However, due to their specific measurements (depth…

Depth completion recovers a dense depth map from sensor measurements. Current methods are mostly tailored for very sparse depth measurements from LiDARs in outdoor settings, while for indoor scenes Time-of-Flight (ToF) or structured light…

Direct time-of-flight (dToF) sensors are promising for next-generation on-device 3D sensing. However, limited by manufacturing capabilities in a compact module, the dToF data has a low spatial resolution (e.g., $\sim 20\times30$ for iPhone…

Robust 6DoF pose estimation with mobile devices is the foundation for applications in robotics, augmented reality, and digital twin localization. In this paper, we extensively investigate the robustness of existing RGBD-based 6DoF pose…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

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…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Transparent and reflective objects in everyday environments pose significant challenges for depth sensors due to their unique visual properties, such as specular reflections and light transmission. These characteristics often lead to…

Depth completion aims to recover dense depth maps from sparse depth measurements. It is of increasing importance for autonomous driving and draws increasing attention from the vision community. Most of existing methods directly train a…

Depth maps produced by consumer-grade sensors suffer from inaccurate measurements and missing data from either system or scene-specific sources. Data-driven denoising algorithms can mitigate such problems. However, they require vast amounts…

3D perception ability is crucial for generalizable robotic manipulation. While recent foundation models have made significant strides in perception and decision-making with RGB-based input, their lack of 3D perception limits their…

RGB-based surface anomaly detection methods have advanced significantly. However, certain surface anomalies remain practically invisible in RGB alone, necessitating the incorporation of 3D information. Existing approaches that employ…

Accurate depth estimation plays a critical role in the navigation of endoscopic surgical robots, forming the foundation for 3D reconstruction and safe instrument guidance. Fine-tuning pretrained models heavily relies on endoscopic surgical…

Depth completion aims to predict a dense depth map from a sparse depth input. The acquisition of dense ground truth annotations for depth completion settings can be difficult and, at the same time, a significant domain gap between real…

Despite the remarkable progresses made in deep-learning based depth map super-resolution (DSR), how to tackle real-world degradation in low-resolution (LR) depth maps remains a major challenge. Existing DSR model is generally trained and…

Transparent objects are widely used in industrial automation and daily life. However, robust visual recognition and perception of transparent objects have always been a major challenge. Currently, most commercial-grade depth cameras are…

Integrating an RGB camera into a ToF imaging system has become a significant technique for perceiving the real world. The RGB guided ToF imaging system is crucial to several applications, including face anti-spoofing, saliency detection,…

Depth estimation is a core task in 3D computer vision. Recent methods investigate the task of monocular depth trained with various depth sensor modalities. Every sensor has its advantages and drawbacks caused by the nature of estimates. In…