Related papers: Unsupervised Scale-consistent Depth Learning from …
It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…
Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…
Monocular depth estimation involves predicting depth from a single RGB image and plays a crucial role in applications such as autonomous driving, robotic navigation, 3D reconstruction, etc. Recent advancements in learning-based methods have…
Video monocular depth estimation is essential for applications such as autonomous driving, AR/VR, and robotics. Recent transformer-based single-image monocular depth estimation models perform well on single images but struggle with depth…
Self-supervised monocular depth estimation is a salient task for 3D scene understanding. Learned jointly with monocular ego-motion estimation, several methods have been proposed to predict accurate pixel-wise depth without using labeled…
Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…
Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…
We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…
Self-supervised monocular depth estimation presents a powerful method to obtain 3D scene information from single camera images, which is trainable on arbitrary image sequences without requiring depth labels, e.g., from a LiDAR sensor. In…
Self-supervised monocular depth estimation holds significant importance in the fields of autonomous driving and robotics. However, existing methods are typically trained and tested on standard datasets, overlooking the impact of various…
Although both self-supervised single-frame and multi-frame depth estimation methods only require unlabeled monocular videos for training, the information they leverage varies because single-frame methods mainly rely on appearance-based…
Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…
Nighttime self-supervised monocular depth estimation has received increasing attention in recent years. However, using night images for self-supervision is unreliable because the photometric consistency assumption is usually violated in the…
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…
Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…
Self-supervised monocular depth estimation approaches either ignore independently moving objects in the scene or need a separate segmentation step to identify them. We propose MonoDepthSeg to jointly estimate depth and segment moving…
Self-supervised monocular depth estimation has emerged as a promising approach since it does not rely on labeled training data. Most methods combine convolution and Transformer to model long-distance dependencies to estimate depth…
We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…
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…
We present a novel approach for unsupervised learning of depth and ego-motion from monocular video. Unsupervised learning removes the need for separate supervisory signals (depth or ego-motion ground truth, or multi-view video). Prior work…