3 papers
cs.CV2026
X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras
Heng Zhou, Shuhong Liu, Yonghao He +6
We present X-lens, a compact feed-forward model for metric depth estimation from a variable number of calibrated fisheye and pinhole views. To support real-time downstream percepti…
cs.RO2026
Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI
Xianda Guo, Bohao Zhang, Chenwei Huang +6
Occupancy prediction at voxel-level granularity is essential for safe robotic navigation and interaction in complex environments. Existing occupancy datasets, however, are predomin…
cs.CV2025
Unleashing Semantic and Geometric Priors for 3D Scene Completion
Shiyuan Chen, Wei Sui, Bohao Zhang +3
Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving and robotic navigation. However, existing methods rely on a…