相关论文: Geometric Consistency for Self-Supervised End-to-E…

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video.…

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…

Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…

This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision,…

We propose a novel method for learning convolutional neural image representations without manual supervision. We use motion cues in the form of optical flow, to supervise representations of static images. The obvious approach of training a…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…

Generating geometrically consistent videos remains an open challenge: text-to-video diffusion models trained on web-scale data treat geometry only implicitly, leading to object deformation, texture drift, and non-rigid backgrounds under…

Gated cameras hold promise as an alternative to scanning LiDAR sensors with high-resolution 3D depth that is robust to back-scatter in fog, snow, and rain. Instead of sequentially scanning a scene and directly recording depth via the photon…

Imaging is a standard example of an inverse problem, where the task of reconstructing a ground truth from a noisy measurement is ill-posed. Recent state-of-the-art approaches for imaging use deep learning, spearheaded by unrolled and…

It is fundamental for personal robots to reliably navigate to a specified goal. To study this task, PointGoal navigation has been introduced in simulated Embodied AI environments. Recent advances solve this PointGoal navigation task with…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric model labels (e.g., camera poses, rigid transformations). Our…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Video diffusion models lack explicit geometric supervision during training, leading to inconsistency artifacts such as object deformation, spatial drift, and depth violations in generated videos. To address this limitation, we propose a…

Unsupervised Domain Adaptation has been an efficient approach to transferring the semantic segmentation model across data distributions. Meanwhile, the recent Open-vocabulary Semantic Scene understanding based on large-scale vision language…

Although existing monocular depth estimation methods have made great progress, predicting an accurate absolute depth map from a single image is still challenging due to the limited modeling capacity of networks and the scale ambiguity…

Most previous learning-based visual odometry (VO) methods take VO as a pure tracking problem. In contrast, we present a VO framework by incorporating two additional components called Memory and Refining. The Memory component preserves…