相关论文: Unsupervised Learning of Monocular Depth Estimatio…

Monocular depth prediction plays a crucial role in understanding 3D scene geometry. Although recent methods have achieved impressive progress in terms of evaluation metrics such as the pixel-wise relative error, most methods neglect the…

Deep learning algorithms have driven expressive progress in many complex tasks. The loss function is a core component of deep learning techniques, guiding the learning process of neural networks. This paper contributes by introducing a…

We present a learning based approach for multi-view stereopsis (MVS). While current deep MVS methods achieve impressive results, they crucially rely on ground-truth 3D training data, and acquisition of such precise 3D geometry for…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

While learning based depth estimation from images/videos has achieved substantial progress, there still exist intrinsic limitations. Supervised methods are limited by a small amount of ground truth or labeled data and unsupervised methods…

This paper proposes a self-supervised monocular image-to-depth prediction framework that is trained with an end-to-end photometric loss that handles not only 6-DOF camera motion but also 6-DOF moving object instances. Self-supervision is…

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…

This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…

Unsupervised Learning based monocular visual odometry (VO) has lately drawn significant attention for its potential in label-free leaning ability and robustness to camera parameters and environmental variations. However, partially due to…

In this paper, we proposed a new deep learning based dense monocular SLAM method. Compared to existing methods, the proposed framework constructs a dense 3D model via a sparse to dense mapping using learned surface normals. With single view…

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…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

Monocular novel-view synthesis has long required multi-view image pairs for supervision, limiting training data scale and diversity. We argue it is not necessary: one view is enough. We present OVIE, trained entirely on unpaired internet…

Exiting deep-learning based dense stereo matching methods often rely on ground-truth disparity maps as the training signals, which are however not always available in many situations. In this paper, we design a simple convolutional neural…

State-of-the-art self-supervised learning approaches for monocular depth estimation usually suffer from scale ambiguity. They do not generalize well when applied on distance estimation for complex projection models such as in fisheye and…

Monocular depth estimation plays a fundamental role in computer vision. Due to the costly acquisition of depth ground truth, self-supervised methods that leverage adjacent frames to establish a supervisory signal have emerged as the most…

Most geometric approaches to monocular Visual Odometry (VO) provide robust pose estimates, but sparse or semi-dense depth estimates. Off late, deep methods have shown good performance in generating dense depths and VO from monocular images…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…