相关论文: Attentive and Contrastive Learning for Joint Depth…

This work proposes a new, online algorithm for estimating the local scale correction to apply to the output of a monocular SLAM system and obtain an as faithful as possible metric reconstruction of the 3D map and of the camera trajectory.…

Monocular 3D object detection is an essential component in autonomous driving while challenging to solve, especially for those occluded samples which are only partially visible. Most detectors consider each 3D object as an independent…

Wearable cameras are becoming more and more popular in several applications, increasing the interest of the research community in developing approaches for recognizing actions from the first-person point of view. An open challenge in…

Most monocular depth sensing methods use conventionally captured images that are created without considering scene content. In contrast, animal eyes have fast mechanical motions, called saccades, that control how the scene is imaged by the…

Self-supervised learning for monocular depth estimation is widely investigated as an alternative to supervised learning approach, that requires a lot of ground truths. Previous works have successfully improved the accuracy of depth…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Monocular Semantic Occupancy Prediction aims to infer the complete 3D geometry and semantic information of scenes from only 2D images. It has garnered significant attention, particularly due to its potential to enhance the 3D perception of…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

Visual understanding of the world goes beyond the semantics and flat structure of individual images. In this work, we aim to capture both the 3D structure and dynamics of real-world scenes from monocular real-world videos. Our Dynamic Scene…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…

Estimating rigid objects' poses is one of the fundamental problems in computer vision, with a range of applications across automation and augmented reality. Most existing approaches adopt one network per object class strategy, depend…

Inter-person occlusion and depth ambiguity make estimating the 3D poses of monocular multiple persons as camera-centric coordinates a challenging problem. Typical top-down frameworks suffer from high computational redundancy with an…

Unsupervised monocular depth and ego-motion estimation has drawn extensive research attention in recent years. Although current methods have reached a high up-to-scale accuracy, they usually fail to learn the true scale metric due to the…

In autonomous driving, The perception capabilities of the ego-vehicle can be improved with roadside sensors, which can provide a holistic view of the environment. However, existing monocular detection methods designed for vehicle cameras…

Although both self-supervised single-frame and multi-frame depth estimation methods only require unlabeled monocular videos for training, the information they leverage varies because single-frame methods mainly rely on appearance-based…

We propose a monocular depth estimator SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time. Our contributions include: (i) we propose a geometry consistency loss, which…

Monocular depth estimation has drawn widespread attention from the vision community due to its broad applications. In this paper, we propose a novel physics (geometry)-driven deep learning framework for monocular depth estimation by…

Monocular depth estimation using Convolutional Neural Networks (CNNs) has shown impressive performance in outdoor driving scenes. However, self-supervised learning of indoor depth from monocular sequences is quite challenging for…