相关论文: Sparse-LiDAR Prompting of Monocular Geometry Found…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently ambiguous and unreliable, to attain a higher level of…

In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle. Dense models provide a rich representation of the…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

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…

We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

Depth completion involves predicting dense depth maps from sparse LiDAR inputs. However, sparse depth annotations from sensors limit the availability of dense supervision, which is necessary for learning detailed geometric features. In this…

We investigate LiDAR guidance within the RAFT-Stereo framework, aiming to improve stereo matching accuracy by injecting precise LiDAR depth into the initial disparity map. We find that the effectiveness of LiDAR guidance drastically…

Underwater infrastructure requires frequent inspection and maintenance due to harsh marine conditions. Current reliance on human divers or remotely operated vehicles is limited by perceptual and operational challenges, especially around…

Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular depth estimation using foundation models…

Monocular height estimation (MHE) from very-high-resolution (VHR) optical imagery remains challenging due to limited structural cues and the high cost and geographic constraints of conventional elevation data such as airborne LiDAR and…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

We propose a novel semi-supervised active learning (SSAL) framework for monocular 3D object detection with LiDAR guidance (MonoLiG), which leverages all modalities of collected data during model development. We utilize LiDAR to guide the…

This paper addresses the problem of learning to complete a scene's depth from sparse depth points and images of indoor scenes. Specifically, we study the case in which the sparse depth is computed from a visual-inertial simultaneous…

This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Self-supervised depth estimators have recently shown results comparable to the supervised methods on the challenging single image depth estimation (SIDE) task, by exploiting the geometrical relations between target and reference views in…