Related papers: Toward Better SSIM Loss for Unsupervised Monocular…
We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…
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…
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…
An event camera is a novel vision sensor that can capture per-pixel brightness changes and output a stream of asynchronous ``events''. It has advantages over conventional cameras in those scenes with high-speed motions and challenging…
Due to difficulties in acquiring ground truth depth of equirectangular (360) images, the quality and quantity of equirectangular depth data today is insufficient to represent the various scenes in the world. Therefore, 360 depth estimation…
Self-supervised contrastive learning frameworks have progressed rapidly over the last few years. In this paper, we propose a novel loss function for contrastive learning. We model our pre-training task as a binary classification problem to…
We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…
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.…
In this paper, we present a new method for multi-view geometric reconstruction. In recent years, large vision models have rapidly developed, performing excellently across various tasks and demonstrating remarkable generalization…
Recent advances in end-to-end unsupervised learning has significantly improved the performance of monocular depth prediction and alleviated the requirement of ground truth depth. Although a plethora of work has been done in enforcing…
In autonomous driving, monocular sequences contain lots of information. Monocular depth estimation, camera ego-motion estimation and optical flow estimation in consecutive frames are high-profile concerns recently. By analyzing tasks above,…
Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM). Recently, the self-supervised learning framework that jointly optimizes the relative pose and target image depth…
Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…
Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…
Purpose: Monocular depth estimation (MDE) is vital for scene understanding in minimally invasive surgery (MIS). However, endoscopic video sequences are often contaminated by smoke, specular reflections, blur, and occlusions, limiting the…
Self-supervised monocular depth and ego-motion estimation is a promising approach to replace or supplement expensive depth sensors such as LiDAR for robotics applications like autonomous driving. However, most research in this area focuses…
In this paper, we introduce Semi-SMD, a novel metric depth estimation framework tailored for surrounding cameras equipment in autonomous driving. In this work, the input data consists of adjacent surrounding frames and camera parameters. We…
Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor…
Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…
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…