Related papers: DCPI-Depth: Explicitly Infusing Dense Corresponden…
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…
Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…
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…
360{\deg} cameras can capture complete environments in a single shot, which makes 360{\deg} imagery alluring in many computer vision tasks. However, monocular depth estimation remains a challenge for 360{\deg} data, particularly for high…
Depth-aware panoptic segmentation is an emerging topic in computer vision which combines semantic and geometric understanding for more robust scene interpretation. Recent works pursue unified frameworks to tackle this challenge but mostly…
Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks such as…
In this work, we leverage estimated depth to boost self-supervised contrastive learning for segmentation of urban scenes, where unlabeled videos are readily available for training self-supervised depth estimation. We argue that the…
Monocular depth estimation from a single image is an ill-posed problem for computer vision due to insufficient reliable cues as the prior knowledge. Besides the inter-frame supervision, namely stereo and adjacent frames, extensive prior…
This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…
This paper aims to address the problem of supervised monocular depth estimation. We start with a meticulous pilot study to demonstrate that the long-range correlation is essential for accurate depth estimation. Therefore, we propose to…
Multi-frame depth estimation improves over single-frame approaches by also leveraging geometric relationships between images via feature matching, in addition to learning appearance-based features. In this paper we revisit feature matching…
In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…
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…
We present a method for depth estimation with monocular images, which can predict high-quality depth on diverse scenes up to an affine transformation, thus preserving accurate shapes of a scene. Previous methods that predict metric depth…
Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…
RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used…
Early accident anticipation from dashcam videos is a highly desirable yet challenging task for improving the safety of intelligent vehicles. Existing advanced accident anticipation approaches commonly model the interaction among traffic…
In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…
Recently, self-supervised monocular depth estimation has gained popularity with numerous applications in autonomous driving and robotics. However, existing solutions primarily seek to estimate depth from immediate visual features, and…
In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…