Related papers: GeoBench: Benchmarking and Analyzing Monocular Geo…

Monocular depth estimation has greatly improved in the recent years but models predicting metric depth still struggle to generalize across diverse camera poses and datasets. While recent supervised methods mitigate this issue by leveraging…

Learning-based monocular depth estimation leverages geometric priors present in the training data to enable metric depth perception from a single image, a traditionally ill-posed problem. However, these priors are often specific to a…

Learning-based monocular visual odometry (VO) poses robustness, generalization, and efficiency challenges in robotics. Recent advances in visual foundation models, such as DINOv2, have improved robustness and generalization in various…

Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry…

Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data…

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…

We introduce a novel framework for metric depth estimation that enhances pretrained diffusion-based monocular depth estimation (DB-MDE) models with stereo vision guidance. While existing DB-MDE methods excel at predicting relative depth,…

Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods…

Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

While recent deep monocular depth estimation approaches based on supervised regression have achieved remarkable performance, costly ground truth annotations are required during training. To cope with this issue, in this paper we present a…

While recent foundation models have enabled significant breakthroughs in monocular depth estimation, a clear path towards safe and reliable deployment in the real-world remains elusive. Metric depth estimation, which involves predicting…

Depth estimation plays an important role in the robotic perception system. Self-supervised monocular paradigm has gained significant attention since it can free training from the reliance on depth annotations. Despite recent advancements,…

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…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

Monocular depth estimation aims to recover the depth information of 3D scenes from 2D images. Recent work has made significant progress, but its reliance on large-scale datasets and complex decoders has limited its efficiency and…

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…

Single-view depth estimation (SVDE) plays a crucial role in scene understanding for AR applications, 3D modeling, and robotics, providing the geometry of a scene based on a single image. Recent works have shown that a successful solution…

We propose MoGe-2, an advanced open-domain geometry estimation model that recovers a metric scale 3D point map of a scene from a single image. Our method builds upon the recent monocular geometry estimation approach, MoGe, which predicts…

We propose GeoUni, the first unified geometry expert model capable of generating problem solutions and diagrams within a single framework in a way that enables the creation of unique and individualized geometry problems. Traditionally,…