相关论文: Unsupervised Learning of Dense Optical Flow, Depth…

Dense optical flow estimation plays a key role in many robotic vision tasks. In the past few years, with the advent of deep learning, we have witnessed great progress in optical flow estimation. However, current networks often consist of a…

Self-supervised monocular depth estimation has been a subject of intense study in recent years, because of its applications in robotics and autonomous driving. Much of the recent work focuses on improving depth estimation by increasing…

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…

Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

This work presents DCFlow, a novel unsupervised cross-modal flow estimation framework that integrates a decoupled optimization strategy and a cross-modal consistency constraint. Unlike previous approaches that implicitly learn flow…

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…

Event-based vision represents a paradigm shift in how vision information is captured and processed. By only responding to dynamic intensity changes in the scene, event-based sensing produces far less data than conventional frame-based…

In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…

In dense foggy scenes, existing optical flow methods are erroneous. This is due to the degradation caused by dense fog particles that break the optical flow basic assumptions such as brightness and gradient constancy. To address the…

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.…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

We present a novel approach for unsupervised learning of depth and ego-motion from monocular video. Unsupervised learning removes the need for separate supervisory signals (depth or ego-motion ground truth, or multi-view video). Prior work…

Sparse-to-dense interpolation for optical flow is a fundamental phase in the pipeline of most of the leading optical flow estimation algorithms. The current state-of-the-art method for interpolation, EpicFlow, is a local average method…

Event cameras are well suited for visual odometry under high-speed motion and challenging lighting conditions due to their low latency, high temporal resolution, and high dynamic range. Deep Event Visual Odometry (DEVO) demonstrated that…

Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions.…

Scene flow is the dense 3D reconstruction of motion and geometry of a scene. Most state-of-the-art methods use a pair of stereo images as input for full scene reconstruction. These methods depend a lot on the quality of the RGB images and…

We present an approach which takes advantage of both structure and semantics for unsupervised monocular learning of depth and ego-motion. More specifically, we model the motion of individual objects and learn their 3D motion vector jointly…

Scene flow estimation is an extremely important task in computer vision to support the perception of dynamic changes in the scene. For robust scene flow, learning-based approaches have recently achieved impressive results using either…

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…