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Salient object detection (SOD) is a crucial and preliminary task for many computer vision applications, which have made progress with deep CNNs. Most of the existing methods mainly rely on the RGB information to distinguish the salient…
RGB-D scene parsing methods effectively capture both semantic and geometric features of the environment, demonstrating great potential under challenging conditions such as extreme weather and low lighting. However, existing RGB-D scene…
Surface reconstruction from sparse views aims to reconstruct a 3D shape or scene from few RGB images. The latest methods are either generalization-based or overfitting-based. However, the generalization-based methods do not generalize well…
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…
Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…
High frame rate and accurate depth estimation plays an important role in several tasks crucial to robotics and automotive perception. To date, this can be achieved through ToF and LiDAR devices for indoor and outdoor applications,…
Robotic grasping is a fundamental capability for autonomous manipulation, yet remains highly challenging in cluttered environments where occlusion, poor perception quality, and inconsistent 3D reconstructions often lead to unstable or…
Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…
Specular glare on reflective floors and glass surfaces frequently corrupts RGB-D depth measurements, producing holes and spikes that accumulate as persistent phantom obstacles in occupancy-grid costmaps. This paper proposes a…
Accurate three-dimensional perception is a fundamental task in several computer vision applications. Recently, commercial RGB-depth (RGB-D) cameras have been widely adopted as single-view depth-sensing devices owing to their efficient…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…
Supervised depth estimation has achieved high accuracy due to the advanced deep network architectures. Since the groundtruth depth labels are hard to obtain, recent methods try to learn depth estimation networks in an unsupervised way by…
Gradient-based algorithms are crucial to modern computer-vision and graphics applications, enabling learning-based optimization and inverse problems. For example, photorealistic differentiable rendering pipelines for color images have been…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
Mobile robots that manipulate their environments require high-accuracy scene understanding at close range. Typically this understanding is achieved with RGBD cameras, but the evaluation process for selecting an appropriate RGBD camera for…
We aim at predicting a complete and high-resolution depth map from incomplete, sparse and noisy depth measurements. Existing methods handle this problem either by exploiting various regularizations on the depth maps directly or resorting to…
Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…
Depth sensing is an essential technology in robotics and many other fields. Many depth sensing (or RGB-D) cameras are available on the market and selecting the best one for your application can be challenging. In this work, we tested four…
A novel depth super-resolution approach for RGB-D sensors is presented. It disambiguates depth super-resolution through high-resolution photometric clues and, symmetrically, it disambiguates uncalibrated photometric stereo through…