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

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…

For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…

Estimating depth from a single RGB images is a fundamental task in computer vision, which is most directly solved using supervised deep learning. In the field of unsupervised learning of depth from a single RGB image, depth is not given…

Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…

We propose a new self-supervised approach to image feature learning from motion cue. This new approach leverages recent advances in deep learning in two directions: 1) the success of training deep neural network in estimating optical flow…

Computing optical flow is a fundamental problem in computer vision. However, deep learning-based optical flow techniques do not perform well for non-rigid movements such as those found in faces, primarily due to lack of the training data…

Micro-expression (ME) recognition plays a crucial role in a wide range of applications, particularly in public security and psychotherapy. Recently, traditional methods rely excessively on machine learning design and the recognition rate is…

Recent learning-based methods for event-based optical flow estimation utilize cost volumes for pixel matching but suffer from redundant computations and limited scalability to higher resolutions for flow refinement. In this work, we take…

Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A critical challenge in fully understanding the geometry and…

Monocular height estimation plays a critical role in 3D perception for remote sensing, offering a cost-effective alternative to multi-view or LiDAR-based methods. While deep learning has significantly advanced the capabilities of monocular…

Event cameras, offering high temporal resolutions and high dynamic ranges, have brought a new perspective to address common challenges (e.g., motion blur and low light) in monocular depth estimation. However, how to effectively exploit the…

Self-supervised learning of depth and ego-motion from unlabeled monocular video has acquired promising results and drawn extensive attention. Most existing methods jointly train the depth and pose networks by photometric consistency of…

Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…

We integrate sparse radar data into a monocular depth estimation model and introduce a novel preprocessing method for reducing the sparseness and limited field of view provided by radar. We explore the intrinsic error of different radar…

Palm-sized autonomous nano-drones, i.e., sub-50g in weight, recently entered the drone racing scenario, where they are tasked to avoid obstacles and navigate as fast as possible through gates. However, in contrast with their bigger…

This paper addresses the importance of full-image supervision for monocular depth estimation. We propose a semi-supervised architecture, which combines both unsupervised framework of using image consistency and supervised framework of dense…

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

A training pipeline for optical flow CNNs consists of a pretraining stage on a synthetic dataset followed by a fine tuning stage on a target dataset. However, obtaining ground truth flows from a target video requires a tremendous effort.…

This paper introduces an unsupervised compact architecture that can extract features and classify the contents of dynamic scenes from the temporal output of a neuromorphic asynchronous event-based camera. Event-based cameras are clock-less…