Related papers: IEBins: Iterative Elastic Bins for Monocular Depth…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

Depth estimation from monocular endoscopic images presents significant challenges due to the complexity of endoscopic surgery, such as irregular shapes of human soft tissues, as well as variations in lighting conditions. Existing methods…

Recovering the scene depth from a single image is an ill-posed problem that requires additional priors, often referred to as monocular depth cues, to disambiguate different 3D interpretations. In recent works, those priors have been learned…

Effectively measuring and modeling the reliability of a trained model is essential to the real-world deployment of monocular depth estimation (MDE) models. However, the intrinsic ill-posedness and ordinal-sensitive nature of MDE pose major…

We propose PureCLIP-Depth, a completely prompt-free, decoder-free Monocular Depth Estimation (MDE) model that operates entirely within the Contrastive Language-Image Pre-training (CLIP) embedding space. Unlike recent models that rely…

Multi-view Stereo (MVS) with known camera parameters is essentially a 1D search problem within a valid depth range. Recent deep learning-based MVS methods typically densely sample depth hypotheses in the depth range, and then construct…

Monocular depth estimation is fundamental for 3D scene understanding and downstream applications. However, even under the supervised setup, it is still challenging and ill-posed due to the lack of full geometric constraints. Although a…

Monocular depth estimation is an essential task in the computer vision community. While tremendous successful methods have obtained excellent results, most of them are computationally expensive and not applicable for real-time on-device…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

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…

As an essential component for many autonomous driving and robotic activities such as ego-motion estimation, obstacle avoidance and scene understanding, monocular depth estimation (MDE) has attracted great attention from the computer vision…

Monocular depth estimation is an ill-posed problem as the same 2D image can be projected from infinite 3D scenes. Although the leading algorithms in this field have reported significant improvement, they are essentially geared to the…

Dense depth maps have been used as a key element of visual perception tasks. There have been tremendous efforts to enhance the depth quality, ranging from optimization-based to learning-based methods. Despite the remarkable progress for a…

Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination conditions and scene features is still the primary challenges…

The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…

Monocular depth estimation (MDE), inferring pixel-level depths in single RGB images from a monocular camera, plays a crucial and pivotal role in a variety of AI applications demanding a three-dimensional (3D) topographical scene. In the…

For an AI system to be reliable, the confidence it expresses in its decisions must match its accuracy. To assess the degree of match, examples are typically binned by confidence and the per-bin mean confidence and accuracy are compared.…

Current self-supervised monocular depth estimation (MDE) approaches encounter performance limitations due to insufficient semantic-spatial knowledge extraction. To address this challenge, we propose Hybrid-depth, a novel framework that…

Monocular depth estimation is vital for scene understanding and downstream tasks. We focus on the supervised setup, in which ground-truth depth is available only at training time. Based on knowledge about the high regularity of real 3D…

We release MiDaS v3.1 for monocular depth estimation, offering a variety of new models based on different encoder backbones. This release is motivated by the success of transformers in computer vision, with a large variety of pretrained…