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We propose DFPNet -- an unsupervised, joint learning system for monocular Depth, Optical Flow and egomotion (Camera Pose) estimation from monocular image sequences. Due to the nature of 3D scene geometry these three components are coupled.…

The advent of deep learning has brought an impressive advance to monocular depth estimation, e.g., supervised monocular depth estimation has been thoroughly investigated. However, the large amount of the RGB-to-depth dataset may not be…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

Real-world blind denoising poses a unique image restoration challenge due to the non-deterministic nature of the underlying noise distribution. Prevalent discriminative networks trained on synthetic noise models have been shown to…

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…

Accurate depth estimation from images is a fundamental task in many applications including scene understanding and reconstruction. Existing solutions for depth estimation often produce blurry approximations of low resolution. This paper…

Discriminative learning based on convolutional neural networks (CNNs) aims to perform image restoration by learning from training examples of noisy-clean image pairs. It has become the go-to methodology for tackling image restoration and…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

Monocular 3D object detection has attracted widespread attention due to its potential to accurately obtain object 3D localization from a single image at a low cost. Depth estimation is an essential but challenging subtask of monocular 3D…

The performance of monocular depth estimation generally depends on the amount of parameters and computational cost. It leads to a large accuracy contrast between light-weight networks and heavy-weight networks, which limits their…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Deep learning techniques have enabled rapid progress in monocular depth estimation, but their quality is limited by the ill-posed nature of the problem and the scarcity of high quality datasets. We estimate depth from a single camera by…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Monocular 3D object detection is very challenging in autonomous driving due to the lack of depth information. This paper proposes a one-stage monocular 3D object detection algorithm based on multi-scale depth stratification, which uses the…

Deep neural networks (DNNs) have achieved great success in the area of computer vision. The disparity estimation problem tends to be addressed by DNNs which achieve much better prediction accuracy in stereo matching than traditional…

As an integral component of blind image deblurring, non-blind deconvolution removes image blur with a given blur kernel, which is essential but difficult due to the ill-posed nature of the inverse problem. The predominant approach is based…

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus…

Occlusion and the scarcity of labeled surgical data are significant challenges in disparity estimation for stereo laparoscopic images. To address these issues, this study proposes a Depth Guided Occlusion-Aware Disparity Refinement Network…

Depth estimation is of critical interest for scene understanding and accurate 3D reconstruction. Most recent approaches in depth estimation with deep learning exploit geometrical structures of standard sharp images to predict corresponding…

3D object detection is an important capability needed in various practical applications such as driver assistance systems. Monocular 3D detection, as a representative general setting among image-based approaches, provides a more economical…