相关论文: Unsupervised Deep Persistent Monocular Visual Odom…

Motion segmentation from a single moving camera presents a significant challenge in the field of computer vision. This challenge is compounded by the unknown camera movements and the lack of depth information of the scene. While deep…

In this paper, we tackle the problem of estimating the depth of a scene from a monocular video sequence. In particular, we handle challenging scenarios, such as non-translational camera motion and dynamic scenes, where traditional structure…

PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…

Single-view depth estimation refers to the ability to derive three-dimensional information per pixel from a single two-dimensional image. Single-view depth estimation is an ill-posed problem because there are multiple depth solutions that…

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…

Self-supervised multi-frame monocular depth estimation relies on the geometric consistency between successive frames under the assumption of a static scene. However, the presence of moving objects in dynamic scenes introduces inevitable…

Unsupervised depth learning takes the appearance difference between a target view and a view synthesized from its adjacent frame as supervisory signal. Since the supervisory signal only comes from images themselves, the resolution of…

Multi-view stereo depth estimation based on cost volume usually works better than self-supervised monocular depth estimation except for moving objects and low-textured surfaces. So in this paper, we propose a multi-frame depth estimation…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

We propose MaskingDepth, a novel semi-supervised learning framework for monocular depth estimation to mitigate the reliance on large ground-truth depth quantities. MaskingDepth is designed to enforce consistency between the…

Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…

Self-supervised monocular depth estimation (MDE) has gained popularity for obtaining depth predictions directly from videos. However, these methods often produce scale invariant results, unless additional training signals are provided.…

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…

3D object detection from monocular images is an ill-posed problem due to the projective entanglement of depth and scale. To overcome this ambiguity, we present a novel self-supervised method for textured 3D shape reconstruction and pose…

Despite recent improvement of supervised monocular depth estimation, the lack of high quality pixel-wise ground truth annotations has become a major hurdle for further progress. In this work, we propose a new unsupervised depth estimation…