相关论文: Self-supervised Sparse-to-Dense: Self-supervised D…

Dense depth cues are important and have wide applications in various computer vision tasks. In autonomous driving, LIDAR sensors are adopted to acquire depth measurements around the vehicle to perceive the surrounding environments. However,…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

Estimating scene geometry from data obtained with cost-effective sensors is key for robots and self-driving cars. In this paper, we study the problem of predicting dense depth from a single RGB image (monodepth) with optional sparse…

Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…

Given the lidar measurements from an autonomous vehicle, we can project the points and generate a sparse depth image. Depth completion aims at increasing the resolution of such a depth image by infilling and interpolating the sparse depth…

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as…

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the…

We present a method to infer a dense depth map from a color image and associated sparse depth measurements. Our main contribution lies in the design of an annealing process for determining co-visibility (occlusions, disocclusions) and the…

Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics…

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…

In this paper, we propose a new global geometry constraint for depth completion. By assuming depth maps often lay on low dimensional subspaces, a dense depth map can be approximated by a weighted sum of full-resolution principal depth…

Monocular 3D object tracking aims to estimate temporally consistent 3D object poses across video frames, enabling autonomous agents to reason about scene dynamics. However, existing state-of-the-art approaches are fully supervised and rely…

Existing depth completion methods are often targeted at a specific sparse depth type and generalize poorly across task domains. We present a method to complete sparse/semi-dense, noisy, and potentially low-resolution depth maps obtained by…

We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

Recent techniques in self-supervised monocular depth estimation are approaching the performance of supervised methods, but operate in low resolution only. We show that high resolution is key towards high-fidelity self-supervised monocular…

It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…