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

Self-supervised monocular depth estimation is a salient task for 3D scene understanding. Learned jointly with monocular ego-motion estimation, several methods have been proposed to predict accurate pixel-wise depth without using labeled…

Self-supervised monocular depth estimation (DE) is an approach to learning depth without costly depth ground truths. However, it often struggles with moving objects that violate the static scene assumption during training. To address this…

As a crucial task of autonomous driving, 3D object detection has made great progress in recent years. However, monocular 3D object detection remains a challenging problem due to the unsatisfactory performance in depth estimation. Most…

Self-supervised learning has shown very promising results for monocular depth estimation. Scene structure and local details both are significant clues for high-quality depth estimation. Recent works suffer from the lack of explicit modeling…

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…

Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitations of existing methods that rely on dense multi-view images…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

In monocular videos that capture dynamic scenes, estimating the 3D geometry of video contents has been a fundamental challenge in computer vision. Specifically, the task is significantly challenged by the object motion, where existing…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

Current state-of-the-art solutions for motion capture from a single camera are optimization driven: they optimize the parameters of a 3D human model so that its re-projection matches measurements in the video (e.g. person segmentation,…

An event camera is a novel vision sensor that can capture per-pixel brightness changes and output a stream of asynchronous ``events''. It has advantages over conventional cameras in those scenes with high-speed motions and challenging…

Spatial scene understanding, including monocular depth estimation, is an important problem in various applications, such as robotics and autonomous driving. While improvements in unsupervised monocular depth estimation have potentially…

In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person and the object, contact positions, and forces…

Self-supervised learning of depth and ego-motion from unlabeled monocular video has acquired promising results and drawn extensive attention. Most existing methods jointly train the depth and pose networks by photometric consistency of…

We present a novel approach for estimating depth from a monocular camera as it moves through complex and crowded indoor environments, e.g., a department store or a metro station. Our approach predicts absolute scale depth maps over the…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

This paper aims to design a 3D object detection model from 2D images taken by monocular cameras by combining the estimated bird's-eye view elevation map and the deep representation of object features. The proposed model has a pre-trained…

Monocular 3D object detection aims to localize 3D bounding boxes in an input single 2D image. It is a highly challenging problem and remains open, especially when no extra information (e.g., depth, lidar and/or multi-frames) can be…

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…

Segmentation of moving objects in dynamic scenes is a key process in scene understanding for navigation tasks. Classical cameras suffer from motion blur in such scenarios rendering them effete. On the contrary, event cameras, because of…