相关论文: Towards Continual, Online, Self-Supervised Depth

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

Deep convolutional neural networks trained end-to-end are the state-of-the-art methods to regress dense disparity maps from stereo pairs. These models, however, suffer from a notable decrease in accuracy when exposed to scenarios…

Purpose: We propose a novel method for continual learning based on the increasing depth of neural networks. This work explores whether extending neural network depth may be beneficial in a life-long learning setting. Methods: We propose a…

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to…

The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are…

In online continual learning, a neural network incrementally learns from a non-i.i.d. data stream. Nearly all online continual learning methods employ experience replay to simultaneously prevent catastrophic forgetting and underfitting on…

We present ProtoDepth, a novel prototype-based approach for continual learning of unsupervised depth completion, the multimodal 3D reconstruction task of predicting dense depth maps from RGB images and sparse point clouds. The unsupervised…

Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One popular robotic system is the da Vinci surgical platform,…

Despite learning-based visual odometry (VO) has shown impressive results in recent years, the pretrained networks may easily collapse in unseen environments. The large domain gap between training and testing data makes them difficult to…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

As deep neural networks are increasingly deployed in dynamic, real-world environments, relying on a single static model is often insufficient. Changes in input data distributions caused by sensor drift or lighting variations necessitate…

In self-supervised monocular depth estimation, the depth discontinuity and motion objects' artifacts are still challenging problems. Existing self-supervised methods usually utilize a single view to train the depth estimation network.…

State-of-the-art approaches to infer dense depth measurements from images rely on CNNs trained end-to-end on a vast amount of data. However, these approaches suffer a drastic drop in accuracy when dealing with environments much different in…

Current self-supervised methods for monocular depth estimation are largely based on deeply nested convolutional networks that leverage stereo image pairs or monocular sequences during a training phase. However, they often exhibit inaccurate…

Unsupervised methods have showed promising results on monocular depth estimation. However, the training data must be captured in scenes without moving objects. To push the envelope of accuracy, recent methods tend to increase their model…

Single-View depth estimation using the CNNs trained from unlabelled videos has shown significant promise. However, excellent results have mostly been obtained in street-scene driving scenarios, and such methods often fail in other settings,…

Unsupervised learning based depth estimation methods have received more and more attention as they do not need vast quantities of densely labeled data for training which are touch to acquire. In this paper, we propose a novel unsupervised…

Previous methods on estimating detailed human depth often require supervised training with `ground truth' depth data. This paper presents a self-supervised method that can be trained on YouTube videos without known depth, which makes…

Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts…

In latest years, deep learning has gained a leading role in the pansharpening of multiresolution images. Given the lack of ground truth data, most deep learning-based methods carry out supervised training in a reduced-resolution domain.…