相关论文: Semantics-Driven Unsupervised Learning for Monocul…

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…

While current approaches for neural network training often aim at improving performance, less focus is put on training methods aiming at robustness towards varying noise conditions or directed attacks by adversarial examples. In this paper,…

Depth-aware video panoptic segmentation tackles the inverse projection problem of restoring panoptic 3D point clouds from video sequences, where the 3D points are augmented with semantic classes and temporally consistent instance…

Single-View depth estimation using the CNNs trained from unlabelled videos has shown significant promise. However, excellent results have mostly been obtained in street-scene driving scenarios, and such methods often fail in other settings,…

Current state-of-the-art solutions for motion capture from a single camera are optimization driven: they optimize the parameters of a 3D human model so that its re-projection matches measurements in the video (e.g. person segmentation,…

Unsupervised monocular depth learning generally relies on the photometric relation among temporally adjacent images. Most of previous works use both mean absolute error (MAE) and structure similarity index measure (SSIM) with conventional…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

Recent supervised multi-view depth estimation networks have achieved promising results. Similar to all supervised approaches, these networks require ground-truth data during training. However, collecting a large amount of multi-view depth…

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…

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…

In this paper, we provide an improved version of UnDEMoN model for depth and ego motion estimation from monocular images. The improvement is achieved by combining the standard bi-linear sampler with a deep network based image sampling model…

While supervised object detection methods achieve impressive accuracy, they generalize poorly to images whose appearance significantly differs from the data they have been trained on. To address this in scenarios where annotating data is…

Unsupervised multi-object segmentation has shown impressive results on images by utilizing powerful semantics learned from self-supervised pretraining. An additional modality such as depth or motion is often used to facilitate the…

Estimating geometric elements such as depth, camera motion, and optical flow from images is an important part of the robot's visual perception. We use a joint self-supervised method to estimate the three geometric elements. Depth network,…

It is a classical compute vision problem to obtain real scene depth maps by using a monocular camera, which has been widely concerned in recent years. However, training this model usually requires a large number of artificially labeled…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

State-of-the-art deep neural networks demonstrate outstanding performance in semantic segmentation. However, their performance is tied to the domain represented by the training data. Open world scenarios cause inaccurate predictions which…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Photometric consistency loss is one of the representative objective functions commonly used for self-supervised monocular depth estimation. However, this loss often causes unstable depth predictions in textureless or occluded regions due to…