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Depth estimation from a single image is an active research topic in computer vision. The most accurate approaches are based on fully supervised learning models, which rely on a large amount of dense and high-resolution (HR) ground-truth…
Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…
Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…
Single image depth estimation is a foundational task in computer vision and generative modeling. However, prevailing depth estimation models grapple with accommodating the increasing resolutions commonplace in today's consumer cameras and…
Perceiving 3D objects from monocular inputs is crucial for robotic systems, given its economy compared to multi-sensor settings. It is notably difficult as a single image can not provide any clues for predicting absolute depth values.…
Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…
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…
Saliency prediction can be of great benefit for 360-degree image/video applications, including compression, streaming , rendering and viewpoint guidance. It is therefore quite natural to adapt the 2D saliency prediction methods for…
Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…
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…
Accurate depth estimation is crucial for 3D scene comprehension in robotics and autonomous vehicles. Fisheye cameras, known for their wide field of view, have inherent geometric benefits. However, their use in depth estimation is restricted…
In this paper, we present a learning-based framework for sparse depth video completion. Given a sparse depth map and a color image at a certain viewpoint, our approach makes a cost volume that is constructed on depth hypothesis planes. To…
In this paper, we propose a dense depth estimation pipeline for multiview 360{\deg} images. The proposed pipeline leverages a spherical camera model that compensates for radial distortion in 360{\deg} images. The key contribution of this…
Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment. Most 6D pose estimators, however, rely on a single camera frame and suffer from occlusions and ambiguities due to…
Monocular depth estimation aims at predicting depth from a single image or video. Recently, self-supervised methods draw much attention since they are free of depth annotations and achieve impressive performance on several daytime…
Learning single image depth estimation model from monocular video sequence is a very challenging problem. In this paper, we propose a novel training loss which enables us to include more images for supervision during the training process.…
Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…
LiDAR and Radar are two complementary sensing approaches in that LiDAR specializes in capturing an object's 3D shape while Radar provides longer detection ranges as well as velocity hints. Though seemingly natural, how to efficiently…
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…