相关论文: Learning Depth from Monocular Videos using Direct …

We present a novel method for predicting accurate depths from monocular images with high efficiency. This optimal efficiency is achieved by exploiting wavelet decomposition, which is integrated in a fully differentiable encoder-decoder…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

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.…

A significant weakness of most current deep Convolutional Neural Networks is the need to train them using vast amounts of manu- ally labelled data. In this work we propose a unsupervised framework to learn a deep convolutional neural…

Unsupervised deep learning methods have shown promising performance for single-image depth estimation. Since most of these methods use binocular stereo pairs for self-supervision, the depth range is generally limited. Small-baseline stereo…

Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

The advent of autonomous driving and advanced driver assistance systems necessitates continuous developments in computer vision for 3D scene understanding. Self-supervised monocular depth estimation, a method for pixel-wise distance…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

This paper proposes a new framework to solve the problem of monocular visual odometry, called MagicVO . Based on Convolutional Neural Network (CNN) and Bi-directional LSTM (Bi-LSTM), MagicVO outputs a 6-DoF absolute-scale pose at each…

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

Deep neural networks have lead to a breakthrough in depth estimation from single images. Recent work often focuses on the accuracy of the depth map, where an evaluation on a publicly available test set such as the KITTI vision benchmark is…

We present a generalised self-supervised learning approach for monocular estimation of the real depth across scenes with diverse depth ranges from 1--100s of meters. Existing supervised methods for monocular depth estimation require…

Depth estimation from single monocular images is a key component of scene understanding and has benefited largely from deep convolutional neural networks (CNN) recently. In this article, we take advantage of the recent deep residual…

Monocular depth estimation is an extensively studied computer vision problem with a vast variety of applications. Deep learning-based methods have demonstrated promise for both supervised and unsupervised depth estimation from monocular…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…