相关论文: Depth360: Self-supervised Learning for Monocular D…

Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

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…

Current self-supervised methods for monocular depth estimation are largely based on deeply nested convolutional networks that leverage stereo image pairs or monocular sequences during a training phase. However, they often exhibit inaccurate…

In this paper, we address the problem of monocular depth estimation when only a limited number of training image-depth pairs are available. To achieve a high regression accuracy, the state-of-the-art estimation methods rely on CNNs trained…

Self-supervised learning for depth estimation uses geometry in image sequences for supervision and shows promising results. Like many computer vision tasks, depth network performance is determined by the capability to learn accurate spatial…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as…

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…

Metric depth prediction from monocular videos suffers from bad generalization between datasets and requires supervised depth data for scale-correct training. Self-supervised training using multi-view reconstruction can benefit from large…

Self-supervised paradigms for monocular depth estimation are very appealing since they do not require ground truth annotations at all. Despite the astonishing results yielded by such methodologies, learning to reason about the uncertainty…

Inferring the depth of transparent or mirror (ToM) surfaces represents a hard challenge for either sensors, algorithms, or deep networks. We propose a simple pipeline for learning to estimate depth properly for such surfaces with neural…

Estimating a depth map from a single RGB image has been investigated widely for localization, mapping, and 3-dimensional object detection. Recent studies on a single-view depth estimation are mostly based on deep Convolutional neural…

Monocular depth estimation (MDE) is a critical task to guide autonomous medical robots. However, obtaining absolute (metric) depth from an endoscopy camera in surgical scenes is difficult, which limits supervised learning of depth on real…

Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework for accurate scale-aware depth prediction on autonomous…

Depth estimation is a challenging task of 3D reconstruction to enhance the accuracy sensing of environment awareness. This work brings a new solution with a set of improvements, which increase the quantitative and qualitative understanding…

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…

The presence of spherical distortion in equirectangular projection (ERP) images presents a persistent challenge in dense regression tasks such as surface normal estimation. Although it may appear straightforward to repurpose architectures…

A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…

Monocular depth estimation is a rudimentary task in robotic perception. Recently, with the development of more accurate and robust neural network models and different types of datasets, monocular depth estimation has significantly improved…