相关论文: LiDARTouch: Monocular metric depth estimation with…

There have been attempts to detect 3D objects by fusion of stereo camera images and LiDAR sensor data or using LiDAR for pre-training and only monocular images for testing, but there have been less attempts to use only monocular image…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

Depth estimation is one of the essential tasks to be addressed when creating mobile autonomous systems. While monocular depth estimation methods have improved in recent times, depth completion provides more accurate and reliable depth maps…

Monocular Depth Estimation (MDE) enables spatial understanding, 3D reconstruction, and autonomous navigation, yet deep learning approaches often predict only relative depth without a consistent metric scale. This limitation reduces…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

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…

Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…

Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…

This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…

Monocular depth estimation has been increasingly adopted in robotics and autonomous driving for its ability to infer scene geometry from a single camera. In self-supervised monocular depth estimation frameworks, the network jointly…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…

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…

Depth completion involves predicting dense depth maps from sparse LiDAR inputs. However, sparse depth annotations from sensors limit the availability of dense supervision, which is necessary for learning detailed geometric features. In this…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

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…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Self-supervised monocular depth estimation (MDE) has gained popularity for obtaining depth predictions directly from videos. However, these methods often produce scale invariant results, unless additional training signals are provided.…

A key contributor to recent progress in 3D detection from single images is monocular depth estimation. Existing methods focus on how to leverage depth explicitly, by generating pseudo-pointclouds or providing attention cues for image…

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,…