相关论文: SCARED-C: Corrected Camera Poses for Endoscopic De…

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding…

We propose a deep neural network architecture to infer dense depth from an image and a sparse point cloud. It is trained using a video stream and corresponding synchronized sparse point cloud, as obtained from a LIDAR or other range sensor,…

Recently, significant progress has been made in single-view depth estimation thanks to increasingly large and diverse depth datasets. However, these datasets are largely limited to specific application domains (e.g. indoor, autonomous…

In this project, we propose a novel approach for estimating depth from RGB images. Traditionally, most work uses a single RGB image to estimate depth, which is inherently difficult and generally results in poor performance, even with…

Screening colonoscopy is an important clinical application for several 3D computer vision techniques, including depth estimation, surface reconstruction, and missing region detection. However, the development, evaluation, and comparison of…

We introduce Princeton365, a large-scale diverse dataset of 365 videos with accurate camera pose. Our dataset bridges the gap between accuracy and data diversity in current SLAM benchmarks by introducing a novel ground truth collection…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

A novel algorithm for uncalibrated stereo image-pair rectification under the constraint of geometric distortion, called USR-CGD, is presented in this work. Although it is straightforward to define a rectifying transformation (or homography)…

Depth map fusion is an essential part in both stereo and RGB-D based 3-D reconstruction pipelines. Whether produced with a passive stereo reconstruction or using an active depth sensor, such as Microsoft Kinect, the depth maps have noise…

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the…

One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigation to provide rich…

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…

We propose a method for metric-scale monocular depth estimation. Inferring depth from a single image is an ill-posed problem due to the loss of scale from perspective projection during the image formation process. Any scale chosen is a…

Image steganography plays a vital role in securing secret data by embedding it in the cover images. Usually, these images are communicated in a compressed format. Existing techniques achieve this but have low embedding capacity. Enhancing…

Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…

In texture-plus-depth representation of a 3D scene, depth maps from different camera viewpoints are typically lossily compressed via the classical transform coding / coefficient quantization paradigm. In this paper we propose to reduce…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

In computer vision, reference datasets have been highly successful in promoting algorithmic development in stereo reconstruction. Surgical scenes gives rise to specific problems, including the lack of clear corner features, highly specular…