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

Ground-truth RGBD data are fundamental for a wide range of computer vision applications; however, those labeled samples are difficult to collect and time-consuming to produce. A common solution to overcome this lack of data is to employ…

RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

Stereo is a prominent technique to infer dense depth maps from images, and deep learning further pushed forward the state-of-the-art, making end-to-end architectures unrivaled when enough data is available for training. However, deep…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Generalizable depth completion enables the acquisition of dense metric depth maps for unseen environments, offering robust perception capabilities for various downstream tasks. However, training such models typically requires large-scale…

Dense depth perception is critical for autonomous driving and other robotics applications. However, modern LiDAR sensors only provide sparse depth measurement. It is thus necessary to complete the sparse LiDAR data, where a synchronized…

Sparse sampling schemes have the potential to dramatically reduce image acquisition time while simultaneously reducing radiation damage to samples. However, for a sparse sampling scheme to be useful it is important that we are able to…

Corrosion, a naturally occurring process leading to the deterioration of metallic materials, demands diligent detection for quality control and the preservation of metal-based objects, especially within industrial contexts. Traditional…

With the wide application of sparse ToF sensors in mobile devices, RGB image-guided sparse depth completion has attracted extensive attention recently, but still faces some problems. First, the fusion of multimodal information requires more…

Indoor robot navigation is often compromised by glass surfaces, which severely corrupt depth sensor measurements. While foundation models like Depth Anything 3 provide excellent geometric priors, they lack an absolute metric scale. We…

Real-time path tracing increasingly operates under extremely low sampling budgets, often below one sample per pixel, as rendering complexity, resolution, and frame-rate requirements continue to rise. While super-resolution is widely used in…

The rapid development of 3D technology and computer vision applications have motivated a thrust of methodologies for depth acquisition and estimation. However, most existing hardware and software methods have limited performance due to poor…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

We present a novel method for accurate and efficient up- sampling of sparse depth data, guided by high-resolution imagery. Our approach goes beyond the use of intensity cues only and additionally exploits object boundary cues through…

Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging environments, where dynamic objects, occlusions, illumination…

Autonomous systems can be used to search for sparse signals in a large space; e.g., aerial robots can be deployed to localize threats, detect gas leaks, or respond to distress calls. Intuitively, search algorithms may increase efficiency by…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…