相关论文: Deep Learning Aided Vision System for Planetary Ro…

Estimating the pose of an uncooperative spacecraft is an important computer vision problem for enabling the deployment of automatic vision-based systems in orbit, with applications ranging from on-orbit servicing to space debris removal.…

Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Disparity/depth estimation from sequences of stereo images is an important element in 3D vision. Owing to occlusions, imperfect settings and homogeneous luminance, accurate estimate of depth remains a challenging problem. Targetting view…

Despite the remarkable progresses made in deep-learning based depth map super-resolution (DSR), how to tackle real-world degradation in low-resolution (LR) depth maps remains a major challenge. Existing DSR model is generally trained and…

Object detection in natural scenes can be a challenging task. In many real-life situations, the visible spectrum is not suitable for traditional computer vision tasks. Moving outside the visible spectrum range, such as the thermal spectrum…

We present ARTPS (Autonomous Rover Target Prioritization System), a novel hybrid AI system that combines depth estimation, anomaly detection, and learnable curiosity scoring for autonomous exploration of planetary surfaces. Our approach…

Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…

Unmanned Aerial Vehicles (UAVs) especially drones, equipped with vision techniques have become very popular in recent years, with their extensive use in wide range of applications. Many of these applications require use of computer vision…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

In this paper, we propose multi-stage and deformable deep convolutional neural networks for object detection. This new deep learning object detection diagram has innovations in multiple aspects. In the proposed new deep architecture, a new…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

In this paper, we propose a ground-based monocular UAV localisation system that detects and localises an LED marker attached to the underside of a UAV. Our system removes the need for extensive infrastructure and calibration unlike existing…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Current planetary rovers operate at traverse speeds of approximately 10 cm/s, fundamentally limiting exploration efficiency. This work presents integrated AI systems which significantly improve autonomy through three components: (i) the…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

Monocular 3D object detection aims to locate objects in different scenes with just a single image. Due to the absence of depth information, several monocular 3D detection techniques have emerged that rely on auxiliary depth maps from the…

We introduce a framework for multi-camera 3D object detection. In contrast to existing works, which estimate 3D bounding boxes directly from monocular images or use depth prediction networks to generate input for 3D object detection from 2D…