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Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for robotic manipulation generally relies on depth sensors based on,…

Nowadays, robotics, AR, and 3D modeling applications attract considerable attention to single-view depth estimation (SVDE) as it allows estimating scene geometry from a single RGB image. Recent works have demonstrated that the accuracy of…

Characterizing urban environments with broad coverages and high precision is more important than ever for achieving the UN's Sustainable Development Goals (SDGs) as half of the world's populations are living in cities. Urban building height…

With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelong learning approaches potentially offer significant cost…

In this thesis, we leverage monocular cameras on aerial robots to predict depth and semantic maps in low-altitude unstructured environments. We propose a joint deep-learning architecture, named Co-SemDepth, that can perform the two tasks…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Monocular depth estimation (MDE) aims to transform an RGB image of a scene into a pixelwise depth map from the same camera view. It is fundamentally ill-posed due to missing information: any single image can have been taken from many…

Accurate monocular metric depth estimation (MMDE) is crucial to solving downstream tasks in 3D perception and modeling. However, the remarkable accuracy of recent MMDE methods is confined to their training domains. These methods fail to…

Accurate and efficient dense metric depth estimation is crucial for 3D visual perception in robotics and XR. In this paper, we develop a monocular visual-inertial motion and depth (VIMD) learning framework to estimate dense metric depth by…

We develop a new estimation technique for recovering depth-of-field from multiple stereo images. Depth-of-field is estimated by determining the shift in image location resulting from different camera viewpoints. When this shift is not…

In the last year, universal monocular metric depth estimation (universal MMDE) has gained considerable attention, serving as the foundation model for various multimedia tasks, such as video and image editing. Nonetheless, current approaches…

Accurate geolocation is essential for the reliable use of GEDI LiDAR data in footprint-scale applications such as aboveground biomass modeling, data fusion, and ecosystem monitoring. However, residual geolocation errors arising from both…

Depth estimation and 3D reconstruction have been extensively studied as core topics in computer vision. Starting from rigid objects with relatively simple geometric shapes, such as vehicles, the research has expanded to address general…

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…

Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously…

Deep learning models have shown encouraging capabilities for mapping accurately forests at medium resolution with TanDEM-X interferometric SAR data. Such models, as most of current state-of-the-art deep learning techniques in remote…

Forest carbon offsets are increasingly popular and can play a significant role in financing climate mitigation, forest conservation, and reforestation. Measuring how much carbon is stored in forests is, however, still largely done via…

The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…

Recent advances in structure-from-motion techniques are enabling many scientific fields to benefit from the routine creation of detailed 3D models. However, for a large number of applications, only a single camera is available, due to cost…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…