Related papers: Unsupervised Odometry and Depth Learning for Endos…

Single-view depth estimation can be remarkably effective if there is enough ground-truth depth data for supervised training. However, there are scenarios, especially in medicine in the case of endoscopies, where such data cannot be…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is…

Monocular visual odometry approaches that purely rely on geometric cues are prone to scale drift and require sufficient motion parallax in successive frames for motion estimation and 3D reconstruction. In this paper, we propose to leverage…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth…

Endoscopic surgery relies on two-dimensional views, posing challenges for surgeons in depth perception and instrument manipulation. While Monocular Visual Simultaneous Localization and Mapping (MVSLAM) has emerged as a promising solution,…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

The great potential of unsupervised monocular depth estimation has been demonstrated by many works due to low annotation cost and impressive accuracy comparable to supervised methods. To further improve the performance, recent works mainly…

Wireless Capsule Endoscopy is one of the most advanced non-invasive methods for the examination of gastrointestinal tracts. An intelligent computer-aided diagnostic system for detecting gastrointestinal abnormalities like polyp, bleeding,…

The escalating global mortality and morbidity rates associated with gastrointestinal (GI) bleeding, compounded by the complexities and limitations of traditional endoscopic methods, underscore the urgent need for a critical review of…

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…

Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Monocular depth estimation is a rudimentary task in robotic perception. Recently, with the development of more accurate and robust neural network models and different types of datasets, monocular depth estimation has significantly improved…

Purpose: The treatment of cardiovascular diseases requires complex and challenging navigation of a guidewire and catheter. This often leads to lengthy interventions during which the patient and clinician are exposed to X-ray radiation. Deep…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

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…

This paper presents an unsupervised deep learning framework called UnDEMoN for estimating dense depth map and 6-DoF camera pose information directly from monocular images. The proposed network is trained using unlabeled monocular stereo…