相关论文: R4Dyn: Exploring Radar for Self-Supervised Monocul…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

Self-supervised monocular depth estimation has achieved impressive performance on outdoor datasets. Its performance however degrades notably in indoor environments because of the lack of textures. Without rich textures, the photometric…

In automotive systems, a radar is a key component of autonomous driving. Using transmit and reflected radar signal by a target, we can capture the target range and velocity. However, when interference signals exist, noise floor increases…

Although recent semantic segmentation methods have made remarkable progress, they still rely on large amounts of annotated training data, which are often infeasible to collect in the autonomous driving scenario. Previous works usually…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…

Classical monocular Simultaneous Localization And Mapping (SLAM) and the recently emerging convolutional neural networks (CNNs) for monocular depth prediction represent two largely disjoint approaches towards building a 3D map of the…

Monocular depth estimation aims at predicting depth from a single image or video. Recently, self-supervised methods draw much attention since they are free of depth annotations and achieve impressive performance on several daytime…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…

Ground-truth RGBD data are fundamental for a wide range of computer vision applications; however, those labeled samples are difficult to collect and time-consuming to produce. A common solution to overcome this lack of data is to employ…

Current, self-supervised depth estimation architectures rely on clear and sunny weather scenes to train deep neural networks. However, in many locations, this assumption is too strong. For example in the UK (2021), 149 days consisted of…

3D reconstruction of depth and motion from monocular video in dynamic environments is a highly ill-posed problem due to scale ambiguities when projecting to the 2D image domain. In this work, we investigate the performance of the current…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

Neural fields (NFs) have achieved remarkable success in scene reconstruction and novel view synthesis. However, existing NF approaches that rely on RGB or LiDAR inputs often struggle under adverse weather conditions, limiting their…

Monocular Depth Estimation (MDE) is a fundamental problem in computer vision with numerous applications. Recently, LIDAR-supervised methods have achieved remarkable per-pixel depth accuracy in outdoor scenes. However, significant errors are…

The 4D millimeter-wave (mmWave) radar, proficient in measuring the range, azimuth, elevation, and velocity of targets, has attracted considerable interest within the autonomous driving community. This is attributed to its robustness in…

We present a novel approach for metric dense depth estimation based on the fusion of a single-view image and a sparse, noisy Radar point cloud. The direct fusion of heterogeneous Radar and image data, or their encodings, tends to yield…

State-of-the-art self-supervised learning approaches for monocular depth estimation usually suffer from scale ambiguity. They do not generalize well when applied on distance estimation for complex projection models such as in fisheye and…