相关论文: Learning structure-from-motion from motion

Monocular depth estimation is crucial for tracking and reconstruction algorithms, particularly in the context of surgical videos. However, the inherent challenges in directly obtaining ground truth depth maps during surgery render…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Learning deformable 3D objects from 2D images is often an ill-posed problem. Existing methods rely on explicit supervision to establish multi-view correspondences, such as template shape models and keypoint annotations, which restricts…

Whole understanding of the surroundings is paramount to autonomous systems. Recent works have shown that deep neural networks can learn geometry (depth) and motion (optical flow) from a monocular video without any explicit supervision from…

While Structure-from-Motion (SfM) has seen much progress over the years, state-of-the-art systems are prone to failure when facing extreme viewpoint changes in low-overlap, low-parallax or high-symmetry scenarios. Because capturing images…

We address the problem of 3D object detection from 2D monocular images in autonomous driving scenarios. We propose to lift the 2D images to 3D representations using learned neural networks and leverage existing networks working directly on…

This project investigates the human multi-modal behavior identification algorithm utilizing deep neural networks. According to the characteristics of different modal information, different deep neural networks are used to adapt to different…

We present a learning-based model to infer the personalized 3D shape of people from a few frames (1-8) of a monocular video in which the person is moving, in less than 10 seconds with a reconstruction accuracy of 5mm. Our model learns to…

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their…

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…

Self-supervised monocular depth estimation has gathered notable interest since it can liberate training from dependency on depth annotations. In monocular video training case, recent methods only conduct view synthesis between existing…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…

Accurate perception of the vehicle's 3D surroundings, including fine-scale road geometry, such as bumps, slopes, and surface irregularities, is essential for safe and comfortable vehicle control. However, conventional monocular depth…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

We describe a technique that automatically generates plausible depth maps from videos using non-parametric depth sampling. We demonstrate our technique in cases where past methods fail (non-translating cameras and dynamic scenes). Our…

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…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…

This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of…