相关论文: Real-time Monocular Depth Estimation with Sparse S…

Many applications of stereo depth estimation in robotics require the generation of accurate disparity maps in real time under significant computational constraints. Current state-of-the-art algorithms force a choice between either…

In this paper we consider the problem of single monocular image depth estimation. It is a challenging problem due to its ill-posedness nature and has found wide application in industry. Previous efforts belongs roughly to two families:…

Depth estimation is a fundamental knowledge for autonomous systems that need to assess their own state and perceive the surrounding environment. Deep learning algorithms for depth estimation have gained significant interest in recent years,…

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…

The increasing accuracy reports of metric monocular depth estimation models lead to a growing interest from the automotive domain. Current model evaluations do not provide deeper insights into the models' performance, also in relation to…

Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth…

We present a self-supervised approach to training convolutional neural networks for dense depth estimation from monocular endoscopy data without a priori modeling of anatomy or shading. Our method only requires monocular endoscopic videos…

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…

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…

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…

Video depth estimation is crucial in various applications, such as scene reconstruction and augmented reality. In contrast to the naive method of estimating depths from images, a more sophisticated approach uses temporal information,…

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…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

Over the past few years, self-supervised monocular depth estimation that does not depend on ground-truth during the training phase has received widespread attention. Most efforts focus on designing different types of network architectures…

Monocular depth estimation is a crucial task to measure distance relative to a camera, which is important for applications, such as robot navigation and self-driving. Traditional frame-based methods suffer from performance drops due to the…

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…

Autonomous cars need continuously updated depth information. Thus far, depth is mostly estimated independently for a single frame at a time, even if the method starts from video input. Our method produces a time series of depth maps, which…

Dense and accurate depth estimation is essential for robotic manipulation, grasping, and navigation, yet currently available depth sensors are prone to errors on transparent, specular, and general non-Lambertian surfaces. To mitigate these…

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…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…