相关论文: Advancing Self-supervised Monocular Depth Learning…

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…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

Depth Estimation has wide reaching applications in the field of Computer vision such as target tracking, augmented reality, and self-driving cars. The goal of Monocular Depth Estimation is to predict the depth map, given a 2D monocular RGB…

Deep neural networks have recently thrived on single image depth estimation. That being said, current developments on this topic highlight an apparent compromise between accuracy and network size. This work proposes an accurate and…

Depth estimation from monocular images is a challenging problem in computer vision. In this paper, we tackle this problem using a novel network architecture using multi scale feature fusion. Our network uses two different blocks, first…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor…

More and more research works fuse the LiDAR and camera information to improve the 3D object detection of the autonomous driving system. Recently, a simple yet effective fusion framework has achieved an excellent detection performance,…

Given the recent advances in depth prediction from Convolutional Neural Networks (CNNs), this paper investigates how predicted depth maps from a deep neural network can be deployed for accurate and dense monocular reconstruction. We propose…

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…

Self-supervised learning is showing great promise for monocular depth estimation, using geometry as the only source of supervision. Depth networks are indeed capable of learning representations that relate visual appearance to 3D properties…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

High-definition (HD) semantic map generation of the environment is an essential component of autonomous driving. Existing methods have achieved good performance in this task by fusing different sensor modalities, such as LiDAR and camera.…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

As 360{\deg} cameras become prevalent in many autonomous systems (e.g., self-driving cars and drones), efficient 360{\deg} perception becomes more and more important. We propose a novel self-supervised learning approach for predicting the…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

This work delves into unsupervised monocular depth estimation in endoscopy, which leverages adjacent frames to establish a supervisory signal during the training phase. For many clinical applications, e.g., surgical navigation, temporally…

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…