相关论文: Unsupervised Learning-based Depth Estimation aided…

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…

Learning-based visual odometry and SLAM methods demonstrate a steady improvement over past years. However, collecting ground truth poses to train these methods is difficult and expensive. This could be resolved by training in an…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and large motions. In contrast, recent learning-based dense SLAM…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate 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…

Despite advancements in SLAM technologies, robust operation under challenging conditions such as low-texture, motion-blur, or challenging lighting remains an open challenge. Such conditions are common in applications such as assistive…

In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…

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…

We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…

In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…

Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…

Visual SLAM (Simultaneous Localization and Mapping) methods typically rely on handcrafted visual features or raw RGB values for establishing correspondences between images. These features, while suitable for sparse mapping, often lead to…

While an exciting diversity of new imaging devices is emerging that could dramatically improve robotic perception, the challenges of calibrating and interpreting these cameras have limited their uptake in the robotics community. In this…