相关论文: Mono-SF: Multi-View Geometry Meets Single-View Dep…

Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…

The great potential of unsupervised monocular depth estimation has been demonstrated by many works due to low annotation cost and impressive accuracy comparable to supervised methods. To further improve the performance, recent works mainly…

3D reconstruction from a single 2D image was extensively covered in the literature but relies on depth supervision at training time, which limits its applicability. To relax the dependence to depth we propose SceneRF, a self-supervised…

In this work we present FreDSNet, a deep learning solution which obtains semantic 3D understanding of indoor environments from single panoramas. Omnidirectional images reveal task-specific advantages when addressing scene understanding…

Scene flow describes 3D motion in a 3D scene. It can either be modeled as a single task, or it can be reconstructed from the auxiliary tasks of stereo depth and optical flow estimation. While the second method can achieve real-time…

We present a generative method to estimate 3D human motion and body shape from monocular video. Under the assumption that starting from an initial pose optical flow constrains subsequent human motion, we exploit flow to find temporally…

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this…

We propose a new multi-frame method for efficiently computing scene flow (dense depth and optical flow) and camera ego-motion for a dynamic scene observed from a moving stereo camera rig. Our technique also segments out moving objects from…

We present 3DVNet, a novel multi-view stereo (MVS) depth-prediction method that combines the advantages of previous depth-based and volumetric MVS approaches. Our key idea is the use of a 3D scene-modeling network that iteratively updates a…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Monocular 3D object detection, with the aim of predicting the geometric properties of on-road objects, is a promising research topic for the intelligent perception systems of autonomous driving. Most state-of-the-art methods follow a…

Recently, self-supervised learning technology has been applied to calculate depth and ego-motion from monocular videos, achieving remarkable performance in autonomous driving scenarios. One widely adopted assumption of depth and ego-motion…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

Monocular depth estimation can play an important role in addressing the issue of deriving scene geometry from 2D images. It has been used in a variety of industries, including robots, self-driving cars, scene comprehension, 3D…

We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three…

Recent advances in 3D Gaussian Splatting (3DGS) deliver striking photorealism, and extending it to large scenes opens new opportunities for semantic reasoning and prediction in applications such as autonomous driving. Today's…

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…

Accurate meshing from monocular images remains a key challenge in 3D vision. While state-of-the-art 3D Gaussian Splatting (3DGS) methods excel at synthesizing photorealistic novel views through rasterization-based rendering, their reliance…

The ability of robots to autonomously navigate through 3D environments depends on their comprehension of spatial concepts, ranging from low-level geometry to high-level semantics, such as objects, places, and buildings. To enable such…

Depth from a monocular video can enable billions of devices and robots with a single camera to see the world in 3D. In this paper, we present an approach with a differentiable flow-to-depth layer for video depth estimation. The model…