相关论文: MobileDepth: Efficient Monocular Depth Prediction …

In this paper we formulate structure from motion as a learning problem. We train a convolutional network end-to-end to compute depth and camera motion from successive, unconstrained image pairs. The architecture is composed of multiple…

We present the next generation of MobileNets based on a combination of complementary search techniques as well as a novel architecture design. MobileNetV3 is tuned to mobile phone CPUs through a combination of hardware-aware network…

We introduce SharpNet, a method that predicts an accurate depth map for an input color image, with a particular attention to the reconstruction of occluding contours: Occluding contours are an important cue for object recognition, and for…

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…

Modern mobile devices are equipped with high-performance hardware resources such as graphics processing units (GPUs), making the end-side intelligent services more feasible. Even recently, specialized silicons as neural engines are being…

Monocular depth estimation is a challenging task that predicts the pixel-wise depth from a single 2D image. Current methods typically model this problem as a regression or classification task. We propose DiffusionDepth, a new approach that…

Monocular depth estimation is critical for applications such as autonomous driving and scene reconstruction. While existing methods perform well under normal scenarios, their performance declines in adverse weather, due to challenging…

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over…

Depth information is useful in many image processing applications. However, since taking a picture is a process of projection of a 3D scene onto a 2D imaging sensor, the depth information is embedded in the image. Extracting the depth…

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of…

Convolutional Neural Network (CNN) based Deep Learning (DL) has achieved great progress in many real-life applications. Meanwhile, due to the complex model structures against strict latency and memory restriction, the implementation of CNN…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Learning-based monocular depth estimation leverages geometric priors present in the training data to enable metric depth perception from a single image, a traditionally ill-posed problem. However, these priors are often specific to a…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

We propose a novel two-stage framework for sensor depth enhancement, called Perfecting Depth. This framework leverages the stochastic nature of diffusion models to automatically detect unreliable depth regions while preserving geometric…

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…

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)…

Self-supervised monocular depth estimation networks are trained to predict scene depth using nearby frames as a supervision signal during training. However, for many applications, sequence information in the form of video frames is also…

Deep metric learning aims to learn features relying on the consistency or divergence of class labels. However, in monocular depth estimation, the absence of a natural definition of class poses challenges in the leveraging of deep metric…