相关论文: SelfDeco: Self-Supervised Monocular Depth Completi…

In this paper, we address the problem of monocular depth estimation when only a limited number of training image-depth pairs are available. To achieve a high regression accuracy, the state-of-the-art estimation methods rely on CNNs trained…

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be…

Recent work on depth estimation up to now has only focused on projective images ignoring 360 content which is now increasingly and more easily produced. We show that monocular depth estimation models trained on traditional images produce…

We present a self-supervised learning-based pipeline for dense 3D reconstruction from full-length monocular endoscopic videos without a priori modeling of anatomy or shading. Our method only relies on unlabeled monocular endoscopic videos…

State-of-the-art self-supervised learning approaches for monocular depth estimation usually suffer from scale ambiguity. They do not generalize well when applied on distance estimation for complex projection models such as in fisheye and…

Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth…

We propose PureCLIP-Depth, a completely prompt-free, decoder-free Monocular Depth Estimation (MDE) model that operates entirely within the Contrastive Language-Image Pre-training (CLIP) embedding space. Unlike recent models that rely…

Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities…

Monocular depth estimation is known as an ill-posed task in which objects in a 2D image usually do not contain sufficient information to predict their depth. Thus, it acts differently from other tasks (e.g., classification and segmentation)…

Spatial scene understanding, including monocular depth estimation, is an important problem in various applications, such as robotics and autonomous driving. While improvements in unsupervised monocular depth estimation have potentially…

Existing self-supervised monocular depth estimation methods can get rid of expensive annotations and achieve promising results. However, these methods suffer from severe performance degradation when directly adopting a model trained on a…

We propose SUB-Depth, a universal multi-task training framework for self-supervised monocular depth estimation (SDE). Depth models trained with SUB-Depth outperform the same models trained in a standard single-task SDE framework. By…

In the last decade, numerous supervised deep learning approaches requiring large amounts of labeled data have been proposed for visual-inertial odometry (VIO) and depth map estimation. To overcome the data limitation, self-supervised…

Monocular depth estimation is an interesting and challenging problem as there is no analytic mapping known between an intensity image and its depth map. Recently there has been a lot of data accumulated through depth-sensing cameras, in…

We revisit the problem of visual depth estimation in the context of autonomous vehicles. Despite the progress on monocular depth estimation in recent years, we show that the gap between monocular and stereo depth accuracy remains large$-$a…

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…

Depth estimation is a crucial step for image-guided intervention in robotic surgery and laparoscopic imaging system. Since per-pixel depth ground truth is difficult to acquire for laparoscopic image data, it is rarely possible to apply…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

Indoor scene reconstruction from monocular images has long been sought after by augmented reality and robotics developers. Recent advances in neural field representations and monocular priors have led to remarkable results in scene-level…

Self-supervised monocular depth estimation is an attractive solution that does not require hard-to-source depth labels for training. Convolutional neural networks (CNNs) have recently achieved great success in this task. However, their…