Related papers: Enhancing Generalization of Depth Estimation Found…
In this work, we observe a counterintuitive phenomenon in self-supervised learning (SSL): longer training may impair the performance of dense prediction tasks (e.g., semantic segmentation). We refer to this phenomenon as Self-supervised…
Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…
While much work has been devoted to understanding the implicit (and explicit) regularization of deep nonlinear networks in the supervised setting, this paper focuses on unsupervised learning, i.e., autoencoders are trained with the…
Monocular depth estimation (MDE) plays a pivotal role in various computer vision applications, such as robotics, augmented reality, and autonomous driving. Despite recent advancements, existing methods often fail to meet key requirements…
Monocular depth estimation (MDE) has attracted intense study due to its low cost and critical functions for robotic tasks such as localization, mapping and obstacle detection. Supervised approaches have led to great success with the advance…
Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…
Monocular depth estimation (MDE) aims to infer per-pixel depth from a single RGB image. While diffusion models have advanced MDE with impressive generalization, they often exhibit limitations in accurately reconstructing far-range regions.…
This paper shows that the autoregressive model is an effective and scalable monocular depth estimator. Our idea is simple: We tackle the monocular depth estimation (MDE) task with an autoregressive prediction paradigm, based on two core…
Monocular depth estimation has seen significant advances through discriminative approaches, yet their performance remains constrained by the limitations of training datasets. While generative approaches have addressed this challenge by…
Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics…
Sharpness-aware minimization (SAM) has emerged as a highly effective technique to improve model generalization, but its underlying principles are not fully understood. We investigate m-sharpness, where SAM performance improves monotonically…
Due to the scarcity of publicly available diarization data, the model performance can be improved by training a single model with data from different domains. In this work, we propose to incorporate domain information to train a single…
Depth estimation is a cornerstone of 3D reconstruction and plays a vital role in minimally invasive endoscopic surgeries. However, most current depth estimation networks rely on traditional convolutional neural networks, which are limited…
The importance of regularization has been well established in image reconstruction -- which is the computational inversion of imaging forward model -- with applications including deconvolution for microscopy, tomographic reconstruction,…
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…
Mainstream strategies for finetuning pretrained multimodal models often degrade out-of-distribution (OOD) robustness, a phenomenon known as catastrophic forgetting. In this paper, we develop a theoretical framework for multimodal…
Sparse optimization is a fundamental challenge in various practical applications. A popular approach to sparse optimization is $\ell_p$ regularization. However, it may encounter optimization instability due to the unbounded gradients when…
Monocular depth estimation has recently progressed beyond ordinal depth to provide metric depth predictions. However, its reliability in underwater environments remains limited due to light attenuation and scattering, color distortion,…
In this paper, we provide a mathematical framework for improving generalization in a class of learning problems which is related to point estimations for modeling of high-dimensional nonlinear functions. In particular, we consider a…
Monocular depth estimation under adverse weather conditions (e.g.\ rain, fog, snow, and nighttime) remains highly challenging due to the lack of reliable ground truth and the difficulty of learning from unlabeled real-world data. Existing…