Related papers: Self-Supervised Learning of Depth and Camera Motio…
This paper tackles the challenges of self-supervised monocular depth estimation in indoor scenes caused by large rotation between frames and low texture. We ease the learning process by obtaining coarse camera poses from monocular sequences…
Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…
Panoramic imagery offers a full 360{\deg} field of view and is increasingly common in consumer devices. However, it introduces non-pinhole distortions that challenge joint pose estimation and 3D reconstruction. Existing feed-forward models,…
In the last year, universal monocular metric depth estimation (universal MMDE) has gained considerable attention, serving as the foundation model for various multimedia tasks, such as video and image editing. Nonetheless, current approaches…
Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…
Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…
360{\deg} omnidirectional images have gained research attention due to their immersive and interactive experience, particularly in AR/VR applications. However, they suffer from lower angular resolution due to being captured by fisheye…
We present an end-to-end joint training framework that explicitly models 6-DoF motion of multiple dynamic objects, ego-motion and depth in a monocular camera setup without supervision. Our technical contributions are three-fold. First, we…
Surround depth estimation provides a cost-effective alternative to LiDAR for 3D perception in autonomous driving. While recent self-supervised methods explore multi-camera settings to improve scale awareness and scene coverage, they are…
Omnidirectional 3D information is essential for a wide range of applications such as Virtual Reality, Autonomous Driving, Robotics, etc. In this paper, we propose a novel, model-agnostic, two-stage pipeline for omnidirectional monocular…
We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…
Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…
We present 360-MLC, a self-training method based on multi-view layout consistency for finetuning monocular room-layout models using unlabeled 360-images only. This can be valuable in practical scenarios where a pre-trained model needs to be…
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…
Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…
We propose a solution to the novel task of rendering sharp videos from new viewpoints from a single motion-blurred image of a face. Our method handles the complexity of face blur by implicitly learning the geometry and motion of faces…
Single-view depth estimation refers to the ability to derive three-dimensional information per pixel from a single two-dimensional image. Single-view depth estimation is an ill-posed problem because there are multiple depth solutions that…
We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…
Modern computer vision has moved beyond the domain of internet photo collections and into the physical world, guiding camera-equipped robots and autonomous cars through unstructured environments. To enable these embodied agents to interact…
We propose SfM-Net, a geometry-aware neural network for motion estimation in videos that decomposes frame-to-frame pixel motion in terms of scene and object depth, camera motion and 3D object rotations and translations. Given a sequence of…