相关论文: Scale-aware Insertion of Virtual Objects in Monocu…

In monocular videos that capture dynamic scenes, estimating the 3D geometry of video contents has been a fundamental challenge in computer vision. Specifically, the task is significantly challenged by the object motion, where existing…

We present MoGe, a powerful model for recovering 3D geometry from monocular open-domain images. Given a single image, our model directly predicts a 3D point map of the captured scene with an affine-invariant representation, which is…

Monocular dynamic reconstruction is a challenging and long-standing vision problem due to the highly ill-posed nature of the task. Existing approaches depend on templates, are effective only in quasi-static scenes, or fail to model 3D…

Unsupervised video-based object-centric learning is a promising avenue to learn structured representations from large, unlabeled video collections, but previous approaches have only managed to scale to real-world datasets in restricted…

In the RoboCup Small Size League (SSL), teams are encouraged to propose solutions for executing basic soccer tasks inside the SSL field using only embedded sensing information. Thus, this work proposes an embedded monocular vision approach…

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…

Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…

It has long been challenging to recover the underlying dynamic 3D scene representations from a monocular RGB video. Existing works formulate this problem into finding a single most plausible solution by adding various constraints such as…

Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Relative-depth foundation models transfer well, yet monocular metric depth remains ill-posed due to unidentifiable global scale and heightened domain-shift sensitivity. Under a frozen-backbone calibration setting, we recover metric depth…

The ability to detect and track objects in the visual world is a crucial skill for any intelligent agent, as it is a necessary precursor to any object-level reasoning process. Moreover, it is important that agents learn to track objects…

Crowd-sourced cooperative mapping from monocular cameras promises scalable 3D reconstruction without specialized sensors, yet remains hindered by two scale-specific failure modes: abrupt scale collapse from false-positive loop closures in…

We present an approach for mobile robots to recognize scenes in object arrangements distributed across cluttered environments. Recognition is enabled by intertwining the robot's search for objects and the assignment of found objects to…

Monocular 3D object detection is an important yet challenging task in autonomous driving. Some existing methods leverage depth information from an off-the-shelf depth estimator to assist 3D detection, but suffer from the additional…

We propose SelfRecon, a clothed human body reconstruction method that combines implicit and explicit representations to recover space-time coherent geometries from a monocular self-rotating human video. Explicit methods require a predefined…

Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…

Multi-frame methods improve monocular depth estimation over single-frame approaches by aggregating spatial-temporal information via feature matching. However, the spatial-temporal feature leads to accuracy degradation in dynamic scenes. To…

Full surround monodepth (FSM) methods can learn from multiple camera views simultaneously in a self-supervised manner to predict the scale-aware depth, which is more practical for real-world applications in contrast to scale-ambiguous depth…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…