相关论文: Towards Keypoint Guided Self-Supervised Depth Esti…

Existing unsupervised keypoint detection methods apply artificial deformations to images such as masking a significant portion of images and using reconstruction of original image as a learning objective to detect keypoints. However, this…

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 introduce a convolutional neural network model for unsupervised learning of depth and ego-motion from cylindrical panoramic video. Panoramic depth estimation is an important technology for applications such as virtual reality, 3D…

We tackle the problem of unsupervised synthetic-to-real domain adaptation for single image depth estimation. An essential building block of single image depth estimation is an encoder-decoder task network that takes RGB images as input and…

Estimating depth from a sequence of posed RGB images is a fundamental computer vision task, with applications in augmented reality, path planning etc. Prior work typically makes use of previous frames in a multi view stereo framework,…

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be…

This paper proposes a novel paradigm for the unsupervised learning of object landmark detectors. Contrary to existing methods that build on auxiliary tasks such as image generation or equivariance, we propose a self-training approach where,…

Recent techniques in self-supervised monocular depth estimation are approaching the performance of supervised methods, but operate in low resolution only. We show that high resolution is key towards high-fidelity self-supervised monocular…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…

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…

We present a method to estimate dense depth by optimizing a sparse set of points such that their diffusion into a depth map minimizes a multi-view reprojection error from RGB supervision. We optimize point positions, depths, and weights…

We present an approach which takes advantage of both structure and semantics for unsupervised monocular learning of depth and ego-motion. More specifically, we model the motion of individual objects and learn their 3D motion vector jointly…

Depth estimation from a single image represents a very exciting challenge in computer vision. While other image-based depth sensing techniques leverage on the geometry between different viewpoints (e.g., stereo or structure from motion),…

Motivated by the astonishing capabilities of natural intelligent agents and inspired by theories from psychology, this paper explores the idea that perception gets coupled to 3D properties of the world via interaction with the environment.…

Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…

Self-supervised learning has emerged as a powerful tool for depth and ego-motion estimation, leading to state-of-the-art results on benchmark datasets. However, one significant limitation shared by current methods is the assumption of a…

Pseudo depth maps are depth map predicitions which are used as ground truth during training. In this paper we leverage pseudo depth maps in order to segment objects of classes that have never been seen during training. This renders our…