Related papers: Depth Anything at Any Condition

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…

Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…

Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated depth to build collision maps, we found that depth estimates…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

Monocular Depth Estimation (MDE) plays a crucial role in vision-based Autonomous Driving (AD) systems. It utilizes a single-camera image to determine the depth of objects, facilitating driving decisions such as braking a few meters in front…

Monocular depth inference is a fundamental problem for scene perception of robots. Specific robots may be equipped with a camera plus an optional depth sensor of any type and located in various scenes of different scales, whereas recent…

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…

Monocular 3D object detection has attracted widespread attention due to its potential to accurately obtain object 3D localization from a single image at a low cost. Depth estimation is an essential but challenging subtask of monocular 3D…

Depth estimation is a fundamental knowledge for autonomous systems that need to assess their own state and perceive the surrounding environment. Deep learning algorithms for depth estimation have gained significant interest in recent years,…

Controllable captioning is essential for precise multimodal alignment and instruction following, yet existing models often lack fine-grained control and reliable evaluation protocols. To address this gap, we present the AnyCap Project, an…

We propose a self-supervised monocular depth estimation network tailored for endoscopic scenes, aiming to infer depth within the gastrointestinal tract from monocular images. Existing methods, though accurate, typically assume consistent…

Monocular depth estimation (MDE) is inherently ambiguous, as a given image may result from many different 3D scenes and vice versa. To resolve this ambiguity, an MDE system must make assumptions about the most likely 3D scenes for a given…

Estimating depth from a monocular image is an ill-posed problem: when the camera projects a 3D scene onto a 2D plane, depth information is inherently and permanently lost. Nevertheless, recent work has shown impressive results in estimating…

Self-supervised monocular depth estimation approaches either ignore independently moving objects in the scene or need a separate segmentation step to identify them. We propose MonoDepthSeg to jointly estimate depth and segment moving…

Monocular depth estimation (MDE) for colonoscopy is hampered by the domain gap between simulated and real-world images. Existing image-to-image translation methods, which use depth as a posterior constraint, often produce structural…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

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…

Stereo matching is a key technique for metric depth estimation in computer vision and robotics. Real-world challenges like occlusion and non-texture hinder accurate disparity estimation from binocular matching cues. Recently, monocular…

State-of-the-art approaches to infer dense depth measurements from images rely on CNNs trained end-to-end on a vast amount of data. However, these approaches suffer a drastic drop in accuracy when dealing with environments much different in…

Spatial scene understanding, including monocular depth estimation, is an important problem in various applications, such as robotics and autonomous driving. While improvements in unsupervised monocular depth estimation have potentially…