Depth Reliability Map
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Reliability-Guided Depth Fusion for Glare-Resilient Navigation Costmaps
Announce Type: new Abstract: Specular glare on reflective floors, glass boundaries, and glossy indoor surfaces frequently corrupts active-stereo RGB-D depth measurements, producing holes and spikes that accumulate as persistent phantom obstacles in occupancy-grid costmaps. This paper presents a glare-resilient costmap construction method based on explicit depth-reliability modeling. A lightweight Depth Reliability Map network (DRM-Net) predicts per-pixel measurement trustworthiness under...
Self-supervised Monocular Depth and Pose Estimation for Endoscopy with Latent Priors
Announce Type: replace Abstract: Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods relying on synthetic datasets or complex models often lack generalizability in challenging endoscopic conditions. We propose a robust self-supervised monocular depth and pose estimation framework that incorporates a Generative...
UAOR: Uncertainty-aware Observation Reinjection for Vision-Language-Action Models
arXiv:2602.18020v2 Announce Type: replace Abstract: Vision-Language-Action (VLA) models leverage pretrained Vision-Language Models (VLMs) as backbones to map images and instructions to actions, demonstrating remarkable potential for generalizable robotic manipulation. To enhance performance, existing methods often incorporate extra observation cues (e.g., depth maps, point clouds) or auxiliary modules (e.g., object detectors, encoders) to enable more precise and reliable task execution, yet...
ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo
arXiv:2606.01367v1 Announce Type: new Abstract: Active scene reconstruction enables robots/UAVs to autonomously plan trajectories and reconstruct environments without costly manual data acquisition. Unlike passive methods, active reconstruction requires real-time construction of high-confidence occupancy maps for collision-free navigation.
Towards Consistent Video Geometry Estimation
arXiv:2605.30060v2 Announce Type: replace Abstract: This work presents ViGeo, a feed-forward foundation model for recovering spatially dense and temporally consistent geometry from video sequences. Built upon a plain transformer architecture without task-specific architectural modifications, ViGeo supports streaming, full-sequence, and long-video inference within a unified model. The key design is dynamic chunking attention, which exposes the model to both bidirectional and causal temporal...
Teaching Robots to Say 'I Don't Know' : SENTINEL for Uncertainty-Aware SLAM
arXiv:2606.04853v1 Announce Type: new Abstract: Low-cost 2D LiDARs lack the intensity channel that higher-end sensors use to diagnose measurement failures, yet they are widely used on educational and budget robotics platforms. We present SENTINEL, a training - free, label - free reliability estimation framework that gives range - only LiDAR an effective diagnostic signal. SENTINEL combines geometry-based scan statistics with cross - modal depth consistency between LiDAR and an RGB - D camera...
RelWitness: Open-Vocabulary 3D Scene Graph Generation with Visual-Geometric Relation Witnesses
arXiv:2605.20823v3 Announce Type: replace Abstract: Open-vocabulary 3D scene graph generation seeks to describe object instances and their relations with flexible natural-language predicates. The central difficulty is not only vocabulary expansion, but supervision reliability: relation annotations in 3D scene graph datasets are selective, and many valid object-pair relations are unannotated. We propose RelWitness, a framework for open-vocabulary 3D scene graph generation from posed RGB-D...
How Turkey Hacked the Hair Transplant Industry
The astounding growth of the hair-transplant industry in Turkey is not just a medical tourism success story; it’s also a tale of “hacked” medical equipment and algorithmic craftsmanship. From a biological and evolutionary perspective, human hair is often viewed as an unremarkable mass of keratin that still plays some important functions—protecting our scalps from the sun’s harmful ultraviolet rays and regulating our body temperatures—but, for the most part, is no longer essential to our...
Whole-genome duplication shaped cell-type evolution in the vertebrate brain
Abstract The complex brains of vertebrates have more cell types than those of their closest relatives. Whole-genome duplications (WGDs) occurred during early vertebrate evolution1, but it is unclear whether the duplicated genes (ohnologues) facilitated cell-type evolution. Here using brain single-cell transcriptomes from five chordates—human2, mouse3, lizard4, lamprey5 and amphioxus—we report that many cell-type families with conserved core transcription factors in vertebrates do not show...
Probing Collision Grounding in Vision-Language Models for Safe Human-Robot Collaboration
arXiv:2605.31196v1 Announce Type: new Abstract: Safe human--robot collaboration requires more than visual description: a monitor must determine whether the robot body is safely separated, already colliding with the scene or a person, or about to collide. We call this capability collision grounding: binding visual observations to robot body geometry, camera viewpoint, scene layout, human proximity, and temporal motion in order to infer present and imminent contact. We introduce...