相关论文: GroundNet: Monocular Ground Plane Normal Estimatio…

The ground plane prior is a very informative geometry clue in monocular 3D object detection (M3OD). However, it has been neglected by most mainstream methods. In this paper, we identify two key factors that limit the applicability of ground…

Monocular 3D object detection has attracted great attention for its advantages in simplicity and cost. Due to the ill-posed 2D to 3D mapping essence from the monocular imaging process, monocular 3D object detection suffers from inaccurate…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Segmentation of planar regions from a single RGB image is a particularly important task in the perception of complex scenes. To utilize both visual and geometric properties in images, recent approaches often formulate the problem as a joint…

In this paper, we propose a geometric neural network with edge-aware refinement (GeoNet++) to jointly predict both depth and surface normal maps from a single image. Building on top of two-stream CNNs, GeoNet++ captures the geometric…

Geometric estimation is required for scene understanding and analysis in panoramic 360{\deg} images. Current methods usually predict a single feature, such as depth or surface normal. These methods can lack robustness, especially when…

Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…

Depth estimation is an essential component in understanding the 3D geometry of a scene, with numerous applications in urban and indoor settings. These scenes are characterized by a prevalence of human made structures, which in most of the…

In this work we present a method to train a plane-aware convolutional neural network for dense depth and surface normal estimation as well as plane boundaries from a single indoor $360^\circ$ image. Using our proposed loss function, our…

This paper proposes a fast and accurate surface normal estimation method which can be directly used on depth maps (organized point clouds). The surface normal estimation process is formulated as a closed-form expression. In order to reduce…

Existing panoramic layout estimation solutions tend to recover room boundaries from a vertically compressed sequence, yielding imprecise results as the compression process often muddles the semantics between various planes. Besides, these…

Learning to reconstruct depths in a single image by watching unlabeled videos via deep convolutional network (DCN) is attracting significant attention in recent years. In this paper, we introduce a surface normal representation for…

Estimating surface normals from 3D point clouds is critical for various applications, including surface reconstruction and rendering. While existing methods for normal estimation perform well in regions where normals change slowly, they…

Piece-wise 3D planar reconstruction provides holistic scene understanding of man-made environments, especially for indoor scenarios. Most recent approaches focused on improving the segmentation and reconstruction results by introducing…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…

In this work we present a self-supervised learning framework to simultaneously train two Convolutional Neural Networks (CNNs) to predict depth and surface normals from a single image. In contrast to most existing frameworks which represent…

We propose GeoNet, a jointly unsupervised learning framework for monocular depth, optical flow and ego-motion estimation from videos. The three components are coupled by the nature of 3D scene geometry, jointly learned by our framework in…