相关论文: Self-Supervised Monocular Depth Estimation: Solvin…

Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present Manydepth2, to achieve precise depth estimation…

For a robot deployed in the world, it is desirable to have the ability of autonomous learning to improve its initial pre-set knowledge. We formalize this as a bootstrapped self-supervised learning problem where a system is initially…

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…

Recently, self-supervised monocular depth estimation has gained popularity with numerous applications in autonomous driving and robotics. However, existing solutions primarily seek to estimate depth from immediate visual features, and…

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…

The monocular depth estimation task has recently revealed encouraging prospects, especially for the autonomous driving task. To tackle the ill-posed problem of 3D geometric reasoning from 2D monocular images, multi-frame monocular methods…

Self-supervised monocular depth estimation methods aim to be used in critical applications such as autonomous vehicles for environment analysis. To circumvent the potential imperfections of these approaches, a quantification of the…

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…

We present a novel unsupervised learning framework for single view depth estimation using monocular videos. It is well known in 3D vision that enlarging the baseline can increase the depth estimation accuracy, and jointly optimizing a set…

Monocular depth estimation aims at predicting depth from a single image or video. Recently, self-supervised methods draw much attention since they are free of depth annotations and achieve impressive performance on several daytime…

Depth estimation is a core problem in robotic perception and vision tasks, but 3D reconstruction from a single image presents inherent uncertainties. Current depth estimation models primarily rely on inter-image relationships for supervised…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

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…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

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…

Estimating a depth map from a single RGB image has been investigated widely for localization, mapping, and 3-dimensional object detection. Recent studies on a single-view depth estimation are mostly based on deep Convolutional neural…

Accurate monocular depth estimation is crucial for 3D scene understanding, but existing methods often blur depth at object boundaries, introducing spurious intermediate 3D points. While achieving sharp edges usually requires very…

Self-supervised monocular depth estimation has emerged as a promising approach since it does not rely on labeled training data. Most methods combine convolution and Transformer to model long-distance dependencies to estimate depth…

Accurate real depth annotations are difficult to acquire, needing the use of special devices such as a LiDAR sensor. Self-supervised methods try to overcome this problem by processing video or stereo sequences, which may not always be…