Related papers: UniDepthV2: Universal Monocular Metric Depth Estim…
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,…
Dense and accurate 3D mapping from a monocular sequence is a key technology for several applications and still an open research area. This paper leverages recent results on single-view CNN-based depth estimation and fuses them with…
Monocular depth estimation is a rudimentary task in robotic perception. Recently, with the development of more accurate and robust neural network models and different types of datasets, monocular depth estimation has significantly improved…
Unsupervised monocular depth estimation has received widespread attention because of its capability to train without ground truth. In real-world scenarios, the images may be blurry or noisy due to the influence of weather conditions and…
A well-known challenge in applying deep-learning methods to omnidirectional images is spherical distortion. In dense regression tasks such as depth estimation, where structural details are required, using a vanilla CNN layer on the…
We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…
3D reconstruction of depth and motion from monocular video in dynamic environments is a highly ill-posed problem due to scale ambiguities when projecting to the 2D image domain. In this work, we investigate the performance of the current…
As processing power has become more available, more human-like artificial intelligences are created to solve image processing tasks that we are inherently good at. As such we propose a model that estimates depth from a monocular image. Our…
Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…
In this paper, we propose enhancing monocular depth estimation by adding 3D points as depth guidance. Unlike existing depth completion methods, our approach performs well on extremely sparse and unevenly distributed point clouds, which…
Estimating accurate 3D locations of objects from monocular images is a challenging problem because of lacking depth. Previous work shows that utilizing the object's keypoint projection constraints to estimate multiple depth candidates…
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…
Monocular depth estimation is an especially important task in robotics and autonomous driving, where 3D structural information is essential. However, extreme lighting conditions and complex surface objects make it difficult to predict depth…
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…
Recent monocular metric depth estimation (MMDE) methods have made notable progress towards zero-shot generalization. However, they still exhibit a significant performance drop on out-of-distribution datasets. We address this limitation by…
Deep metric learning aims to learn features relying on the consistency or divergence of class labels. However, in monocular depth estimation, the absence of a natural definition of class poses challenges in the leveraging of deep metric…
Monocular depth estimation (MDE) models have undergone significant advancements over recent years. Many MDE models aim to predict affine-invariant relative depth from monocular images, while recent developments in large-scale training 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…
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…
The generalization and performance of stereo matching networks are limited due to the domain gap of the existing synthetic datasets and the sparseness of GT labels in the real datasets. In contrast, monocular depth estimation has achieved…