相关论文: Depth Estimation from Single Image using Sparse Re…

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…

This paper addresses the problem of dense depth predictions from sparse distance sensor data and a single camera image on challenging weather conditions. This work explores the significance of different sensor modalities such as camera,…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Inferring the depth of transparent or mirror (ToM) surfaces represents a hard challenge for either sensors, algorithms, or deep networks. We propose a simple pipeline for learning to estimate depth properly for such surfaces with neural…

Neural networks have shown great abilities in estimating depth from a single image. However, the inferred depth maps are well below one-megapixel resolution and often lack fine-grained details, which limits their practicality. Our method…

Monocular depth estimation has improved significantly in recent years, driven by increasingly powerful models and large-scale training data. Predicted depth is increasingly used as an input signal for downstream tasks such as…

This paper aims at understanding the role of multi-scale information in the estimation of depth from monocular images. More precisely, the paper investigates four different deep CNN architectures, designed to explicitly make use of…

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…

In the area of self-supervised monocular depth estimation, models that utilize rich-resource inputs, such as high-resolution and multi-frame inputs, typically achieve better performance than models that use ordinary single image input.…

Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many…

Monocular depth estimation is a fundamental computer vision task. Recovering 3D depth from a single image is geometrically ill-posed and requires scene understanding, so it is not surprising that the rise of deep learning has led to a…

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous events instead of intensity frames. Compared to conventional image sensors, they offer significant advantages: high temporal resolution,…

Depth estimation from a single image of a conventional camera is a challenging task since depth cues are lost during the acquisition process. State-of-the-art approaches improve the discrimination between different depths by introducing a…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

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…

Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…

We present two versatile methods to generally enhance self-supervised monocular depth estimation (MDE) models. The high generalizability of our methods is achieved by solving the fundamental and ubiquitous problems in photometric loss…

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…

Self-supervised monocular depth estimation (SSMDE) aims to predict the dense depth map of a monocular image, by learning depth from RGB image sequences, eliminating the need for ground-truth depth labels. Although this approach simplifies…

In this paper, we address monocular depth estimation with deep neural networks. To enable training of deep monocular estimation models with various sources of datasets, state-of-the-art methods adopt image-level normalization strategies to…