相关论文: Distilled Semantics for Comprehensive Scene Unders…

From video, we reconstruct a neural volume that captures time-varying color, density, scene flow, semantics, and attention information. The semantics and attention let us identify salient foreground objects separately from the background…

We introduce MGNet, a multi-task framework for monocular geometric scene understanding. We define monocular geometric scene understanding as the combination of two known tasks: Panoptic segmentation and self-supervised monocular depth…

Monocular depth estimation, enabled by self-supervised learning, is a key technique for 3D perception in computer vision. However, it faces significant challenges in real-world scenarios, which encompass adverse weather variations, motion…

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…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

In this work, we pioneer Semantic Flow, a neural semantic representation of dynamic scenes from monocular videos. In contrast to previous NeRF methods that reconstruct dynamic scenes from the colors and volume densities of individual…

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…

Visual understanding of the world goes beyond the semantics and flat structure of individual images. In this work, we aim to capture both the 3D structure and dynamics of real-world scenes from monocular real-world videos. Our Dynamic Scene…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

Inferring scene geometry from images via Structure from Motion is a long-standing and fundamental problem in computer vision. While classical approaches and, more recently, depth map predictions only focus on the visible parts of a scene,…

Depth completion involves predicting dense depth maps from sparse LiDAR inputs. However, sparse depth annotations from sensors limit the availability of dense supervision, which is necessary for learning detailed geometric features. In this…

Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…

Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…

Scene flow is a challenging task aimed at jointly estimating the 3D structure and motion of the sensed environment. Although deep learning solutions achieve outstanding performance in terms of accuracy, these approaches divide the whole…

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…

We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…

We present a novel approach designed to address the complexities posed by challenging, out-of-distribution data in the single-image depth estimation task. Starting with images that facilitate depth prediction due to the absence of…

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…

We introduce a way to learn to estimate a scene representation from a single image by predicting a low-dimensional subspace of optical flow for each training example, which encompasses the variety of possible camera and object movement.…

Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to…