相关论文: Dense monocular Simultaneous Localization and Mapp…

This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…

We introduce a novel approach for depth estimation using images obtained from monocular structured light systems. In contrast to many existing methods that depend on image matching, our technique employs a density voxel grid to represent…

3D Gaussian Splatting (3DGS) has demonstrated impressive performance in 3D scene reconstruction. Beyond novel view synthesis, it shows great potential for multi-view surface reconstruction. Existing methods employ optimization-based…

We present 360-DFPE, a sequential floor plan estimation method that directly takes 360-images as input without relying on active sensors or 3D information. Our approach leverages a loosely coupled integration between a monocular visual SLAM…

As processing power has become more available, more human-like artificial intelligences are created to solve image processing tasks that we are inherently good at. As such we propose a model that estimates depth from a monocular image. Our…

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…

We propose to improve on graph convolution based approaches for human shape and pose estimation from monocular input, using pixel-aligned local image features. Given a single input color image, existing graph convolutional network (GCN)…

We consider the problem of depth estimation from a single monocular image in this work. It is a challenging task as no reliable depth cues are available, e.g., stereo correspondences, motions, etc. Previous efforts have been focusing on…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

This paper presents a probabilistic approach for online dense reconstruction using a single monocular camera moving through the environment. Compared to spatial stereo, depth estimation from motion stereo is challenging due to insufficient…

Using accurate depth priors in 3D Gaussian Splatting helps mitigate artifacts caused by sparse training data and textureless surfaces. However, acquiring accurate depth maps requires specialized acquisition systems. Foundation monocular…

The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

In recent years, neural implicit surface reconstruction methods have become popular for multi-view 3D reconstruction. In contrast to traditional multi-view stereo methods, these approaches tend to produce smoother and more complete…

We propose a novel point-based representation, Gaussian surfels, to combine the advantages of the flexible optimization procedure in 3D Gaussian points and the surface alignment property of surfels. This is achieved by directly setting the…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

In this paper, we propose a dense monocular SLAM system, named DeepRelativeFusion, that is capable to recover a globally consistent 3D structure. To this end, we use a visual SLAM algorithm to reliably recover the camera poses and…

Deep learning techniques have enabled rapid progress in monocular depth estimation, but their quality is limited by the ill-posed nature of the problem and the scarcity of high quality datasets. We estimate depth from a single camera by…

We present a novel algorithm for self-supervised monocular depth completion. Our approach is based on training a neural network that requires only sparse depth measurements and corresponding monocular video sequences without dense depth…

Recovering the scene depth from a single image is an ill-posed problem that requires additional priors, often referred to as monocular depth cues, to disambiguate different 3D interpretations. In recent works, those priors have been learned…