相关论文: Self-Supervised Learning of Depth and Ego-motion w…

Recent advances in self-supervised learning havedemonstrated that it is possible to learn accurate monoculardepth reconstruction from raw video data, without using any 3Dground truth for supervision. However, in robotics…

Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

Self-supervised learning of depth and ego-motion from unlabeled monocular video has acquired promising results and drawn extensive attention. Most existing methods jointly train the depth and pose networks by photometric consistency of…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

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…

Existing self-supervised monocular depth estimation methods can get rid of expensive annotations and achieve promising results. However, these methods suffer from severe performance degradation when directly adopting a model trained on a…

Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in large-scale scenes due to three core challenges: \textit{(a)…

As 360{\deg} cameras become prevalent in many autonomous systems (e.g., self-driving cars and drones), efficient 360{\deg} perception becomes more and more important. We propose a novel self-supervised learning approach for predicting the…

Self-supervised monocular depth estimation approaches either ignore independently moving objects in the scene or need a separate segmentation step to identify them. We propose MonoDepthSeg to jointly estimate depth and segment moving…

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

Self-supervised depth estimation for indoor environments is more challenging than its outdoor counterpart in at least the following two aspects: (i) the depth range of indoor sequences varies a lot across different frames, making it…

Monocular depth estimation using Convolutional Neural Networks (CNNs) has shown impressive performance in outdoor driving scenes. However, self-supervised learning of indoor depth from monocular sequences is quite challenging for…

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…

Self-supervised monocular depth estimation has seen significant progress in recent years, especially in outdoor environments. However, depth prediction results are not satisfying in indoor scenes where most of the existing data are captured…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

Self-supervised learning of depth has been a highly studied topic of research as it alleviates the requirement of having ground truth annotations for predicting depth. Depth is learnt as an intermediate solution to the task of view…