相关论文: Dense Disparity Estimation in Ego-motion Reduced S…

We consider the problem of simultaneously estimating a dense depth map and camera pose for a large set of images of an indoor scene. While classical SfM pipelines rely on a two-step approach where cameras are first estimated using a bundle…

Monocular depth estimation aims at estimating a pixelwise depth map for a single image, which has wide applications in scene understanding and autonomous driving. Existing supervised and unsupervised methods face great challenges.…

We propose a deep reparametrization of the maximum a posteriori formulation commonly employed in multi-frame image restoration tasks. Our approach is derived by introducing a learned error metric and a latent representation of the target…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

This paper presents a novel extended dynamic programming approach for energy minimization (EDP) to solve the correspondence problem for stereo and motion. A significant speedup is achieved using a recursive minimum search strategy (RMS).…

Modern large displacement optical flow algorithms usually use an initialization by either sparse descriptor matching techniques or dense approximate nearest neighbor fields. While the latter have the advantage of being dense, they have the…

Computational stereo has reached a high level of accuracy, but degrades in the presence of occlusions, repeated textures, and correspondence errors along edges. We present a novel approach based on neural networks for depth estimation that…

Stereo matching is one of the widely used techniques for inferring depth from stereo images owing to its robustness and speed. It has become one of the major topics of research since it finds its applications in autonomous driving, robotic…

Learning single image depth estimation model from monocular video sequence is a very challenging problem. In this paper, we propose a novel training loss which enables us to include more images for supervision during the training process.…

Modern day multimedia content generation and dissemination is moving towards the presentation of more and more `realistic' scenarios. The switch from 2-dimensional (2D) to 3-dimensional (3D) has been a major driving force in that direction.…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…

The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…

Feature matching is a challenging computer vision task that involves finding correspondences between two images of a 3D scene. In this paper we consider the dense approach instead of the more common sparse paradigm, thus striving to find…

Recent convolutional neural networks, especially end-to-end disparity estimation models, achieve remarkable performance on stereo matching task. However, existed methods, even with the complicated cascade structure, may fail in the regions…

Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

For ego-motion estimation, the feature representation of the scenes is crucial. Previous methods indicate that both the low-level and semantic feature-based methods can achieve promising results. Therefore, the incorporation of hierarchical…

The area of computer vision is one of the most discussed topics amongst many scholars, and stereo matching is its most important sub fields. After the parallax map is transformed into a depth map, it can be applied to many intelligent…

Portraits or selfie images taken from a close distance typically suffer from perspective distortion. In this paper, we propose an end-to-end deep learning-based rectification pipeline to mitigate the effects of perspective distortion. We…