相关论文: Geometry-Aware Sparse Depth Sampling for High-Fide…

In this paper, we aim to solve the problem of consistent depth prediction in complex scenes under various illumination conditions. The existing indoor datasets based on RGB-D sensors or virtual rendering have two critical limitations -…

Learning-based methods to solve dense 3D vision problems typically train on 3D sensor data. The respectively used principle of measuring distances provides advantages and drawbacks. These are typically not compared nor discussed in the…

RGB-guided depth completion aims at predicting dense depth maps from sparse depth measurements and corresponding RGB images, where how to effectively and efficiently exploit the multi-modal information is a key issue. Guided dynamic…

The Segment Anything Model (SAM) has demonstrated its effectiveness in segmenting any part of 2D RGB images. However, SAM exhibits a stronger emphasis on texture information while paying less attention to geometry information when…

Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…

Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…

The sparse representation of signals defined on Euclidean domains has been successfully applied in signal processing. Bringing the power of sparse representations to non-regular domains is still a challenge, but promising approaches have…

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…

Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…

Depth maps captured with commodity sensors are often of low quality and resolution; these maps need to be enhanced to be used in many applications. State-of-the-art data-driven methods of depth map super-resolution rely on registered pairs…

A novel approach towards depth map super-resolution using multi-view uncalibrated photometric stereo is presented. Practically, an LED light source is attached to a commodity RGB-D sensor and is used to capture objects from multiple…

Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry…

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…

Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly…

Guided depth map super-resolution (GDSR), which aims to reconstruct a high-resolution (HR) depth map from a low-resolution (LR) observation with the help of a paired HR color image, is a longstanding and fundamental problem, it has…

Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized robotic platforms and excludes settings where only RGB…

Reconstructing 3D objects from extremely sparse views is a long-standing and challenging problem. While recent techniques employ image diffusion models for generating plausible images at novel viewpoints or for distilling pre-trained…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

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,…

We present a deep learning system to infer the posterior distribution of a dense depth map associated with an image, by exploiting sparse range measurements, for instance from a lidar. While the lidar may provide a depth value for a small…