相关论文: Calibrating Self-supervised Monocular Depth Estima…

Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…

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…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Monocular depth estimation plays a fundamental role in computer vision. Due to the costly acquisition of depth ground truth, self-supervised methods that leverage adjacent frames to establish a supervisory signal have emerged as the most…

Monocular depth estimators can be trained with various forms of self-supervision from binocular-stereo data to circumvent the need for high-quality laser scans or other ground-truth data. The disadvantage, however, is that the photometric…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Self-supervised monocular depth estimation aims to infer depth information without relying on labeled data. However, the lack of labeled information poses a significant challenge to the model's representation, limiting its ability to…

A single color image can contain many cues informative towards different aspects of local geometric structure. We approach the problem of monocular depth estimation by using a neural network to produce a mid-level representation that…

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…

The estimation of depth in two-dimensional images has long been a challenging and extensively studied subject in computer vision. Recently, significant progress has been made with the emergence of Deep Learning-based approaches, which have…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

We introduce NimbleD, an efficient self-supervised monocular depth estimation learning framework that incorporates supervision from pseudo-labels generated by a large vision model. This framework does not require camera intrinsics, enabling…

Current self-supervised monocular depth estimation methods are mostly based on estimating a rigid-body motion representing camera motion. These methods suffer from the well-known scale ambiguity problem in their predictions. We propose…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy. One of the main limitations of this approach, however, is…

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 depth estimation has made a great success in learning depth from unlabeled image sequences. While the mappings between image and pixel-wise depth are well-studied in current methods, the correlation between image, depth and…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

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…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…