相关论文: Unsupervised Scale-consistent Depth and Ego-motion…

We present a novel approach for unsupervised learning of depth and ego-motion from monocular video. Unsupervised learning removes the need for separate supervisory signals (depth or ego-motion ground truth, or multi-view video). Prior work…

A new unsupervised learning method of depth and ego-motion using multiple masks from monocular video is proposed in this paper. The depth estimation network and the ego-motion estimation network are trained according to the constraints of…

Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors…

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still…

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…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…

We propose a monocular depth estimator SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time. Our contributions include: (i) we propose a geometry consistency loss, which…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

Self-supervised monocular depth and ego-motion estimation is a promising approach to replace or supplement expensive depth sensors such as LiDAR for robotics applications like autonomous driving. However, most research in this area focuses…

We present a novel method for simultaneous learning of depth, egomotion, object motion, and camera intrinsics from monocular videos, using only consistency across neighboring video frames as supervision signal. Similarly to prior work, our…

We present an approach which takes advantage of both structure and semantics for unsupervised monocular learning of depth and ego-motion. More specifically, we model the motion of individual objects and learn their 3D motion vector jointly…

Although considerable advancements have been attained in self-supervised depth estimation from monocular videos, most existing methods often treat all objects in a video as static entities, which however violates the dynamic nature of…

Depth estimation in surgical video plays a crucial role in many image-guided surgery procedures. However, it is difficult and time consuming to create depth map ground truth datasets in surgical videos due in part to inconsistent brightness…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

A thermal camera can robustly capture thermal radiation images under harsh light conditions such as night scenes, tunnels, and disaster scenarios. However, despite this advantage, neither depth nor ego-motion estimation research for the…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…