相关论文: Zero-Shot Depth from Defocus

A shallow depth-of-field image keeps the subject in focus, and the foreground and background contexts blurred. This effect requires much larger lens apertures than those of smartphone cameras. Conventional methods acquire RGB-D images and…

Wide field-of-view (FoV) cameras efficiently capture large portions of the scene, which makes them attractive in multiple domains, such as automotive and robotics. For such applications, estimating depth from multiple images is a critical…

Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression…

Depth cameras allow to set up reliable solutions for people monitoring and behavior understanding, especially when unstable or poor illumination conditions make unusable common RGB sensors. Therefore, we propose a complete framework for the…

Spatial intelligence, encompassing 3D reconstruction, perception, and reasoning, is fundamental to applications such as robotics, aerial imaging, and extended reality. A key enabler is the real-time, accurate estimation of core 3D…

Previous deep image registration methods that employ single homography, multi-grid homography, or thin-plate spline often struggle with real scenes containing depth disparities due to their inherent limitations. To address this, we propose…

We study data-free knowledge distillation (KD) for monocular depth estimation (MDE), which learns a lightweight model for real-world depth perception tasks by compressing it from a trained teacher model while lacking training data in the…

Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes, presenting significant challenges for model generalizability. Fortunately, the recent Segment Anything Model (SAM) has…

Data-driven depth estimation methods struggle with the generalization outside their training scenes due to the immense variability of the real-world scenes. This problem can be partially addressed by utilising synthetically generated…

Neural networks that map 3D coordinates to signed distance function (SDF) or occupancy values have enabled high-fidelity implicit representations of object shape. This paper develops a new shape model that allows synthesizing novel distance…

In recent years, the usefulness of 3D shape estimation is being realized in microscopic or close-range imaging, as the 3D information can further be used in various applications. Due to limited depth of field at such small distances, the…

Reconstructing texture-less surfaces poses unique challenges in computer vision, primarily due to the lack of specialized datasets that cater to the nuanced needs of depth and normals estimation in the absence of textural information. We…

Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a capability rooted in their understanding of semantic correspondences between different instances. To…

Fluorescence microscopy has enabled a dramatic development in modern biology. Due to its inherently weak signal, fluorescence microscopy is not only much noisier than photography, but also presented with Poisson-Gaussian noise where Poisson…

The study of zero-shot generalisation (ZSG) in deep Reinforcement Learning (RL) aims to produce RL algorithms whose policies generalise well to novel unseen situations at deployment time, avoiding overfitting to their training environments.…

We introduce Metric3D v2, a geometric foundation model for zero-shot metric depth and surface normal estimation from a single image, which is crucial for metric 3D recovery. While depth and normal are geometrically related and highly…

The task of vision-based 3D occupancy prediction aims to reconstruct 3D geometry and estimate its semantic classes from 2D color images, where the 2D-to-3D view transformation is an indispensable step. Most previous methods conduct forward…

Zero-shot depth completion has gained attention for its ability to generalize across environments without sensor-specific datasets or retraining. However, most existing approaches rely on diffusion-based test-time optimization, which is…

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction…

Stereo matching is a key technique for metric depth estimation in computer vision and robotics. Real-world challenges like occlusion and non-texture hinder accurate disparity estimation from binocular matching cues. Recently, monocular…