相关论文: Fisheye Stereo Vision: Depth and Range Error
An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
An autostereogram is a single image that encodes depth information that pops out when looking at it. The trick is achieved by replicating a vertical strip that sets a basic two-dimensional pattern with disparity shifts that encode a…
The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream effects on policy learning. This paper presents the first…
Maxwell fisheye lens was proposed to reach super-resolution with the addition of wave drain, and the interaction of multiple drains is theoretically predicted to improve subwavelength resolution further. In this paper we discuss the role…
Dynamic stereo matching is the task of estimating consistent disparities from stereo videos with dynamic objects. Recent learning-based methods prioritize optimal performance on a single stereo pair, resulting in temporal inconsistencies.…
Stereo depth estimation is error-prone; hence, effective error detection methods are desirable. Most such existing methods depend on characteristics of the stereo matching cost curve, making them unduly dependent on functional details of…
Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…
In classical computer vision, rectification is an integral part of multi-view depth estimation. It typically includes epipolar rectification and lens distortion correction. This process simplifies the depth estimation significantly, and…
Fisheye lens, which is suitable for panoramic imaging, has the prominent advantage of a large field of view and low cost. However, the fisheye image has a severe geometric distortion which may interfere with the stage of image registration…
Video depth estimation is crucial in various applications, such as scene reconstruction and augmented reality. In contrast to the naive method of estimating depths from images, a more sophisticated approach uses temporal information,…
In this paper, we present the first pinhole-fisheye framework for heterogeneous multi-view depth estimation, PFDepth. Our key insight is to exploit the complementary characteristics of pinhole and fisheye imagery (undistorted vs. distorted,…
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…
This research focuses on the development of a drone equipped with pruning tools and a stereo vision camera to accurately detect and measure the spatial positions of tree branches. YOLO is employed for branch segmentation, while two depth…
Frequency diverse array multiple-input multiple-output (FDA-MIMO) radar differs from the traditional phased array (PA) radar, and can form range-angle-dependent beampattern and differentiate between closely spaced targets sharing the same…
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…
Both explicit analysis and FEM numerical simulation are used to analyze the field distribution of a line current in the so-called Maxwell's fish eye lens [bounded with a perfectly electrical conductor (PEC) boundary]. We show that such a 2D…
Accurate depth estimation with lowest compute and energy cost is a crucial requirement for unmanned and battery operated autonomous systems. Robotic applications require real time depth estimation for navigation and decision making under…
We innovate in stereo vision by explicitly providing analytical 3D surface models as viewed by a cyclopean eye model that incorporate depth discontinuities and occlusions. This geometrical foundation combined with learned stereo features…
We describe several techniques developed by the High Resolution Fly's Eye experiment for measuring aerosol vertical optical depth, aerosol horizontal attenuation length, and aerosol phase function. The techniques are based on measurements…