相关论文: Generalization Evaluation of Deep Stereo Matching …

Recent advances in stereo matching have focused on accuracy, often at the cost of significantly increased model size. Traditionally, the community has regarded efficient models as incapable of zero-shot ability due to their limited…

Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot…

We present Uncertainty-aware Cascaded Stereo Network (UCS-Net) for 3D reconstruction from multiple RGB images. Multi-view stereo (MVS) aims to reconstruct fine-grained scene geometry from multi-view images. Previous learning-based MVS…

Robust depth perception in visually-degraded environments is crucial for autonomous aerial systems. Thermal imaging cameras, which capture infrared radiation, are robust to visual degradation. However, due to lack of a large-scale dataset,…

Dense matching is crucial for 3D scene reconstruction since it enables the recovery of scene 3D geometry from image acquisition. Deep Learning (DL)-based methods have shown effectiveness in the special case of epipolar stereo disparity…

Recently, there has been a paradigm shift in stereo matching with learning-based methods achieving the best results on all popular benchmarks. The success of these methods is due to the availability of training data with ground truth;…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates.In this work, we present the first self-supervised…

Stereo foundation models achieve strong zero-shot generalization but remain computationally prohibitive for real-time applications. Efficient stereo architectures, on the other hand, sacrifice robustness for speed and require costly…

Reliable localization in GPS-denied, visually degraded environments is critical for autonomous UAV opera- tions. This paper presents a systematic comparative evaluation of five V-SLAM systems ORB-SLAM3, DPVO, DROID-SLAM, DUSt3R, and MASt3R…

Unmanned Aerial Vehicles (UAVs) are increasingly used for reforestation and forest monitoring, including seed dispersal in hard-to-reach terrains. However, a detailed understanding of the forest floor remains a challenge due to high natural…

This work presents dense stereo reconstruction using high-resolution images for infrastructure inspections. The state-of-the-art stereo reconstruction methods, both learning and non-learning ones, consume too much computational resource on…

State-of-the-art deep learning based stereo matching approaches treat disparity estimation as a regression problem, where loss function is directly defined on true disparities and their estimated ones. However, disparity is just a byproduct…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Efficient yet accurate extraction of depth from stereo image pairs is required by systems with low power resources, such as robotics and embedded systems. State-of-the-art stereo matching methods based on convolutional neural networks…

We find that the EPE evaluation metrics of RAFT-stereo converge inconsistently in the low and high frequency regions, resulting high frequency degradation (e.g., edges and thin objects) during the iterative process. The underlying reason…

UAV images are critical for applications such as large-area mapping, infrastructure inspection, and emergency response. However, in real-world flight environments, a single image is often affected by multiple degradation factors, including…

Modern neural network-based algorithms are able to produce highly accurate depth estimates from stereo image pairs, nearly matching the reliability of measurements from more expensive depth sensors. However, this accuracy comes with a…

Stereo matching plays a crucial role in 3D perception and scenario understanding. Despite the proliferation of promising methods, addressing texture-less and texture-repetitive conditions remains challenging due to the insufficient…

A critical step in the digital surface models(DSM) generation is feature matching. Off-track (or multi-date) satellite stereo images, in particular, can challenge the performance of feature matching due to spectral distortions between…