相关论文: Full Surround Monodepth from Multiple Cameras

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…

Monocular depth estimation is an important step in many downstream tasks in machine vision. We address the topic of estimating monocular depth from defocus blur which can yield more accurate results than the semantic based depth estimation…

Low-overlap aerial imagery poses significant challenges to traditional photogrammetric methods, which rely heavily on high image overlap to produce accurate and complete mapping products. In this study, we propose a novel workflow based on…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…

Estimating the motion of the camera together with the 3D structure of the scene from a monocular vision system is a complex task that often relies on the so-called scene rigidity assumption. When observing a dynamic environment, this…

Learning single image depth estimation model from monocular video sequence is a very challenging problem. In this paper, we propose a novel training loss which enables us to include more images for supervision during the training process.…

Self-supervised monocular depth estimation has shown impressive results in static scenes. It relies on the multi-view consistency assumption for training networks, however, that is violated in dynamic object regions and occlusions.…

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…

Nighttime self-supervised monocular depth estimation has received increasing attention in recent years. However, using night images for self-supervision is unreliable because the photometric consistency assumption is usually violated in the…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

We introduce NimbleD, an efficient self-supervised monocular depth estimation learning framework that incorporates supervision from pseudo-labels generated by a large vision model. This framework does not require camera intrinsics, enabling…

We present two versatile methods to generally enhance self-supervised monocular depth estimation (MDE) models. The high generalizability of our methods is achieved by solving the fundamental and ubiquitous problems in photometric loss…

Although both self-supervised single-frame and multi-frame depth estimation methods only require unlabeled monocular videos for training, the information they leverage varies because single-frame methods mainly rely on appearance-based…

In this paper, we provide an improved version of UnDEMoN model for depth and ego motion estimation from monocular images. The improvement is achieved by combining the standard bi-linear sampler with a deep network based image sampling model…

Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive…

Surround depth estimation provides a cost-effective alternative to LiDAR for 3D perception in autonomous driving. While recent self-supervised methods explore multi-camera settings to improve scale awareness and scene coverage, they are…

Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…