相关论文: PAGCNet: A Pose-Aware and Geometry Constrained Fra…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…

Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…

Image composition is a fundamental operation in image editing field. However, unharmonious foreground and background downgrade the quality of composite image. Image harmonization, which adjusts the foreground to improve the consistency, is…

This paper proposes a depth estimation method using radar-image fusion by addressing the uncertain vertical directions of sparse radar measurements. In prior radar-image fusion work, image features are merged with the uncertain sparse…

Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistency constraints. Recent learning-based methods have…

Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks such as…

In this paper, we propose a novel procedure for 3D layout recovery of indoor scenes from single 360 degrees panoramic images. With such images, all scene is seen at once, allowing to recover closed geometries. Our method combines…

Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…

Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…

Given a new $6DoF$ camera pose in an indoor environment, we study the challenging problem of predicting the view from that pose based on a set of reference RGBD views. Existing explicit or implicit 3D geometry construction methods are…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

In this work, we propose a novel framework named Region-Aware Network (RANet), which learns the ability of anti-confusing in case of heavy occlusion, nearby person and symmetric appearance, for human pose estimation. Specifically, the…

We introduce UprightNet, a learning-based approach for estimating 2DoF camera orientation from a single RGB image of an indoor scene. Unlike recent methods that leverage deep learning to perform black-box regression from image to…

Bokeh rendering and depth estimation share a fundamental optical connection, yet existing methods fail to fully exploit this reciprocity. Conventional bokeh pipelines rely heavily on noisy depth maps that inevitably introduce visual…

Reconstructing precise camera poses and floor plan layouts from wide-baseline RGB panoramas is a difficult and unsolved problem. We introduce BADGR, a novel diffusion model that jointly performs reconstruction and bundle adjustment (BA) to…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

Depth completion is a key task in autonomous driving, aiming to complete sparse LiDAR depth measurements into high-quality dense depth maps through image guidance. However, existing methods usually treat depth maps as an additional channel…

Although deep models have greatly improved the accuracy and robustness of image segmentation, obtaining segmentation results with highly accurate boundaries and fine structures is still a challenging problem. In this paper, we propose a…

Estimating the layout of a room from a single-shot panoramic image is important in virtual/augmented reality and furniture layout simulation. This involves identifying three-dimensional (3D) geometry, such as the location of corners and…

We present a novel method for single image depth estimation using surface normal constraints. Existing depth estimation methods either suffer from the lack of geometric constraints, or are limited to the difficulty of reliably capturing…