相关论文: PoseConvGRU: A Monocular Approach for Visual Ego-m…

Self-supervised monocular depth estimation has gathered notable interest since it can liberate training from dependency on depth annotations. In monocular video training case, recent methods only conduct view synthesis between existing…

We present a method to analyze images taken from a passive egocentric wearable camera along with the contextual information, such as time and day of week, to learn and predict everyday activities of an individual. We collected a dataset of…

We present GEM, a Generalizable Ego-vision Multimodal world model that predicts future frames using a reference frame, sparse features, human poses, and ego-trajectories. Hence, our model has precise control over object dynamics, ego-agent…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

Self-supervised deep learning methods for joint depth and ego-motion estimation can yield accurate trajectories without needing ground-truth training data. However, as they typically use photometric losses, their performance can degrade…

Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot…

In self-supervised monocular depth estimation, the depth discontinuity and motion objects' artifacts are still challenging problems. Existing self-supervised methods usually utilize a single view to train the depth estimation network.…

Self-supervised monocular scene flow estimation, aiming to understand both 3D structures and 3D motions from two temporally consecutive monocular images, has received increasing attention for its simple and economical sensor setup. However,…

We present a self-supervised approach to ignoring "distractors" in camera images for the purposes of robustly estimating vehicle motion in cluttered urban environments. We leverage offline multi-session mapping approaches to automatically…

Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive…

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of…

We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

This paper studies monocular visual odometry (VO) problem. Most of existing VO algorithms are developed under a standard pipeline including feature extraction, feature matching, motion estimation, local optimisation, etc. Although some of…

In this paper we propose USegScene, a framework for semantically guided unsupervised learning of depth, optical flow and ego-motion estimation for stereo camera images using convolutional neural networks. Our framework leverages semantic…

We consider the problem of unsupervised camera pose estimation. Given an input video sequence, our goal is to estimate the camera pose (i.e. the camera motion) between consecutive frames. Traditionally, this problem is tackled by placing…

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…

This paper addresses the task of segmenting moving objects in unconstrained videos. We introduce a novel two-stream neural network with an explicit memory module to achieve this. The two streams of the network encode spatial and temporal…

We propose MAMo, a novel memory and attention frame-work for monocular video depth estimation. MAMo can augment and improve any single-image depth estimation networks into video depth estimation models, enabling them to take advantage of…

Vision-based ego-lane inference using High-Definition (HD) maps is essential in autonomous driving and advanced driver assistance systems. The traditional approach necessitates well-calibrated cameras, which confines variation of camera…