相关论文: Robustness Meets Deep Learning: An End-to-End Hybr…

We address the problem of joint optical flow and camera motion estimation in rigid scenes by incorporating geometric constraints into an unsupervised deep learning framework. Unlike existing approaches which rely on brightness constancy and…

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…

Both optical flow and stereo disparities are image matches and can therefore benefit from joint training. Depth and 3D motion provide geometric rather than photometric information and can further improve optical flow. Accordingly, we design…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

RANSAC is an important algorithm in robust optimization and a central building block for many computer vision applications. In recent years, traditionally hand-crafted pipelines have been replaced by deep learning pipelines, which can be…

In autonomous driving, monocular sequences contain lots of information. Monocular depth estimation, camera ego-motion estimation and optical flow estimation in consecutive frames are high-profile concerns recently. By analyzing tasks above,…

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…

This paper studies unsupervised monocular depth prediction problem. Most of existing unsupervised depth prediction algorithms are developed for outdoor scenarios, while the depth prediction work in the indoor environment is still very…

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…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

We present an unsupervised learning framework for the task of monocular depth and camera motion estimation from unstructured video sequences. We achieve this by simultaneously training depth and camera pose estimation networks using the…

Event cameras rely on motion to obtain information about scene appearance. This means that appearance and motion are inherently linked: either both are present and recorded in the event data, or neither is captured. Previous works treat the…

Unsupervised deep learning for optical flow computation has achieved promising results. Most existing deep-net based methods rely on image brightness consistency and local smoothness constraint to train the networks. Their performance…

We propose DFPNet -- an unsupervised, joint learning system for monocular Depth, Optical Flow and egomotion (Camera Pose) estimation from monocular image sequences. Due to the nature of 3D scene geometry these three components are coupled.…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…

Learning scene flow from a monocular camera still remains a challenging task due to its ill-posedness as well as lack of annotated data. Self-supervised methods demonstrate learning scene flow estimation from unlabeled data, yet their…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

Unsupervised learning of optical flow, which leverages the supervision from view synthesis, has emerged as a promising alternative to supervised methods. However, the objective of unsupervised learning is likely to be unreliable in…