相关论文: Monocular Depth Estimation with Augmented Ordinal …

In this paper we consider the problem of single monocular image depth estimation. It is a challenging problem due to its ill-posedness nature and has found wide application in industry. Previous efforts belongs roughly to two families:…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…

Solving depth estimation with monocular cameras enables the possibility of widespread use of cameras as low-cost depth estimation sensors in applications such as autonomous driving and robotics. However, learning such a scalable depth…

Traditional MVS methods have good accuracy but struggle with completeness, while recently developed learning-based multi-view stereo (MVS) techniques have improved completeness except accuracy being compromised. We propose depth…

While supervised stereo matching and monocular depth estimation have advanced significantly with learning-based algorithms, self-supervised methods using stereo images as supervision signals have received relatively less focus and require…

The field of self-supervised monocular depth estimation has seen huge advancements in recent years. Most methods assume stereo data is available during training but usually under-utilize it and only treat it as a reference signal. We…

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 vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

We introduce a novel framework for metric depth estimation that enhances pretrained diffusion-based monocular depth estimation (DB-MDE) models with stereo vision guidance. While existing DB-MDE methods excel at predicting relative depth,…

Monocular depth estimation is an interesting and challenging problem as there is no analytic mapping known between an intensity image and its depth map. Recently there has been a lot of data accumulated through depth-sensing cameras, in…

Monocular depth estimation is a crucial task to measure distance relative to a camera, which is important for applications, such as robot navigation and self-driving. Traditional frame-based methods suffer from performance drops due to the…

The majority of prior monocular depth estimation methods without groundtruth depth guidance focus on driving scenarios. We show that such methods generalize poorly to unseen complex indoor scenes, where objects are cluttered and arbitrarily…

We propose Gated Stereo, a high-resolution and long-range depth estimation technique that operates on active gated stereo images. Using active and high dynamic range passive captures, Gated Stereo exploits multi-view cues alongside…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Stereo-based depth estimation is a cornerstone of computer vision, with state-of-the-art methods delivering accurate results in real time. For several applications such as autonomous navigation, however, it may be useful to trade accuracy…

Recently, RGBD-based category-level 6D object pose estimation has achieved promising improvement in performance, however, the requirement of depth information prohibits broader applications. In order to relieve this problem, this paper…

We propose D3VO as a novel framework for monocular visual odometry that exploits deep networks on three levels -- deep depth, pose and uncertainty estimation. We first propose a novel self-supervised monocular depth estimation network…