相关论文: Scale-aware direct monocular odometry

Monocular 3D object detection poses a significant challenge due to the lack of depth information in RGB images. Many existing methods strive to enhance the object depth estimation performance by allocating additional parameters for object…

Recently, self-supervised monocular depth estimation has gained popularity with numerous applications in autonomous driving and robotics. However, existing solutions primarily seek to estimate depth from immediate visual features, and…

Previous monocular depth estimation methods take a single view and directly regress the expected results. Though recent advances are made by applying geometrically inspired loss functions during training, the inference procedure does not…

Accurate endoscope pose estimation and 3D tissue surface reconstruction significantly enhances monocular minimally invasive surgical procedures by enabling accurate navigation and improved spatial awareness. However, monocular endoscope…

Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular depth estimation using foundation models…

Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…

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…

Multi-view stereo depth estimation based on cost volume usually works better than self-supervised monocular depth estimation except for moving objects and low-textured surfaces. So in this paper, we propose a multi-frame depth estimation…

Existing self-supervised monocular depth estimation methods can get rid of expensive annotations and achieve promising results. However, these methods suffer from severe performance degradation when directly adopting a model trained on a…

Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which aims at predicting 3D attributes from a single 2D image. Most existing transformer-based methods leverage both visual and…

Estimating depth from a single image is a challenging visual task. Compared to relative depth estimation, metric depth estimation attracts more attention due to its practical physical significance and critical applications in real-life…

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of understanding dynamic…

Recent foundation models demonstrate strong generalization capabilities in monocular depth estimation. However, directly applying these models to Full Surround Monocular Depth Estimation (FSMDE) presents two major challenges: (1) high…

We propose GSO-SLAM, a real-time monocular dense SLAM system that leverages Gaussian scene representation. Unlike existing methods that couple tracking and mapping with a unified scene, incurring computational costs, or loosely integrate…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

Monocular depth estimation has become one of the most studied applications in computer vision, where the most accurate approaches are based on fully supervised learning models. However, the acquisition of accurate and large ground truth…

Monocular depth estimation is a challenging task that aims to predict a corresponding depth map from a given single RGB image. Recent deep learning models have been proposed to predict the depth from the image by learning the alignment of…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide…