相关论文: CNN-SLAM: Real-time dense monocular SLAM with lear…

Convolutional Neural Networks (CNNs) need large amounts of data with ground truth annotation, which is a challenging problem that has limited the development and fast deployment of CNNs for many computer vision tasks. We propose a novel…

Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at high-speed and over broad illumination conditions. However,…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localization and mapping (SLAM). Although geometric foundation…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires sequential data from…

We present a generic framework for scale-aware direct monocular odometry based on depth prediction from a deep neural network. In contrast with previous methods where depth information is only partially exploited, we formulate a novel depth…

Monocular depth prediction is an important task in scene understanding. It aims to predict the dense depth of a single RGB image. With the development of deep learning, the performance of this task has made great improvements. However, two…

In this paper, we consider adversarial attacks against a system of monocular depth estimation (MDE) based on convolutional neural networks (CNNs). The motivation is two-fold. One is to study the security of MDE systems, which has not been…

This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estimation from motion stereo is challenging due to insufficient…

Depth estimation from a single image is an important task that can be applied to various fields in computer vision, and has grown rapidly with the development of convolutional neural networks. In this paper, we propose a novel structure and…

Monocular depth reconstruction of complex and dynamic scenes is a highly challenging problem. While for rigid scenes learning-based methods have been offering promising results even in unsupervised cases, there exists little to no…

Imaging through scattering is an important, yet challenging problem. Tremendous progress has been made by exploiting the deterministic input-output "transmission matrix" for a fixed medium. However, this "one-to-one" mapping is highly…

Digital holography enables us to reconstruct objects in three-dimensional space from holograms captured by an imaging device. For the reconstruction, we need to know the depth position of the recoded object in advance. In this study, we…

Deep convolutional neural networks (CNN) have recently been shown in many computer vision and pattern recog- nition applications to outperform by a significant margin state- of-the-art solutions that use traditional hand-crafted features.…

Depth estimation is of critical interest for scene understanding and accurate 3D reconstruction. Most recent approaches in depth estimation with deep learning exploit geometrical structures of standard sharp images to predict corresponding…

A single color image can contain many cues informative towards different aspects of local geometric structure. We approach the problem of monocular depth estimation by using a neural network to produce a mid-level representation that…

Thanks to the excellent learning capability of deep convolutional neural networks (CNN), monocular depth estimation using CNNs has achieved great success in recent years. However, depth estimation from a monocular image alone is essentially…

Vision-based Simultaneous Localization And Mapping (VSLAM) is a mature problem in Robotics. Most VSLAM systems are feature based methods, which are robust and present high accuracy, but yield sparse maps with limited application for further…

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…

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…