相关论文: GeoNet: Unsupervised Learning of Dense Depth, Opti…

Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a monocular image due to the geometric information loss during imagery projection. We propose…

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…

Predicting depth from a single image is an attractive research topic since it provides one more dimension of information to enable machines to better perceive the world. Recently, deep learning has emerged as an effective approach to…

Learning depth and ego-motion from unlabeled videos via self-supervision from epipolar projection can improve the robustness and accuracy of the 3D perception and localization of vision-based robots. However, the rigid projection computed…

Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…

In this work, we propose a novel single-shot and keypoints-based framework for monocular 3D objects detection using only RGB images, called KM3D-Net. We design a fully convolutional model to predict object keypoints, dimension, and…

This paper studies unsupervised monocular depth prediction problem. Most of existing unsupervised depth prediction algorithms are developed for outdoor scenarios, while the depth prediction work in the indoor environment is still very…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Scene flow estimation has been receiving increasing attention for 3D environment perception. Monocular scene flow estimation -- obtaining 3D structure and 3D motion from two temporally consecutive images -- is a highly ill-posed problem,…

Unsupervised learning of depth from indoor monocular videos is challenging as the artificial environment contains many textureless regions. Fortunately, the indoor scenes are full of specific structures, such as planes and lines, which…

Self-supervised monocular depth estimation networks are trained to predict scene depth using nearby frames as a supervision signal during training. However, for many applications, sequence information in the form of video frames is also…

Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…

We introduce a convolutional neural network model for unsupervised learning of depth and ego-motion from cylindrical panoramic video. Panoramic depth estimation is an important technology for applications such as virtual reality, 3D…

We consider the problem of next frame prediction from video input. A recurrent convolutional neural network is trained to predict depth from monocular video input, which, along with the current video image and the camera trajectory, can…

In this study, we address the challenge of 3D scene structure recovery from monocular depth estimation. While traditional depth estimation methods leverage labeled datasets to directly predict absolute depth, recent advancements advocate…

We present a robust and accurate depth refinement system, named GeoRefine, for geometrically-consistent dense mapping from monocular sequences. GeoRefine consists of three modules: a hybrid SLAM module using learning-based priors, an online…

Obtaining accurate depth measurements out of a single image represents a fascinating solution to 3D sensing. CNNs led to considerable improvements in this field, and recent trends replaced the need for ground-truth labels with…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Recent visual odometry (VO) methods incorporating geometric algorithm into deep-learning architecture have shown outstanding performance on the challenging monocular VO task. Despite encouraging results are shown, previous methods ignore…