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We consider the problem of next frame prediction from video input. A recurrent convolutional neural network is trained to predict depth from monocular video input, which, along with the current video image and the camera trajectory, can…
Self-supervised monocular depth estimation (MDE) has gained popularity for obtaining depth predictions directly from videos. However, these methods often produce scale invariant results, unless additional training signals are provided.…
Self-supervised monocular depth estimation has been a subject of intense study in recent years, because of its applications in robotics and autonomous driving. Much of the recent work focuses on improving depth estimation by increasing…
We present a novel framework for dynamic radiance field prediction given monocular video streams. Unlike previous methods that primarily focus on predicting future frames, our method goes a step further by generating explicit 3D…
We present a novel algorithm for estimating the broad 3D geometric structure of outdoor video scenes. Leveraging spatio-temporal video segmentation, we decompose a dynamic scene captured by a video into geometric classes, based on…
In this paper, we tackle the problem of estimating the depth of a scene from a monocular video sequence. In particular, we handle challenging scenarios, such as non-translational camera motion and dynamic scenes, where traditional structure…
Monocular image-based 3D reconstruction of faces is a long-standing problem in computer vision. Since image data is a 2D projection of a 3D face, the resulting depth ambiguity makes the problem ill-posed. Most existing methods rely on…
Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…
Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…
A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…
The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…
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…
Recent Multimodal Large Language Models (MLLMs) have shown high potential for spatial reasoning within 3D scenes. However, they typically rely on computationally expensive 3D representations like point clouds or reconstructed Bird's-Eye…
Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…
Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…
The challenge of dynamic view synthesis from dynamic monocular videos, i.e., synthesizing novel views for free viewpoints given a monocular video of a dynamic scene captured by a moving camera, mainly lies in accurately modeling the…
Existing 3D scene flow estimation methods provide the 3D geometry and 3D motion of a scene and gain a lot of interest, for example in the context of autonomous driving. These methods are traditionally based on a temporal series of stereo…
Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…
We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…
Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be…