相关论文: Residual-Guided Learning Representation for Self-S…

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…

Unsupervised stereo matching has garnered significant attention for its independence from costly disparity annotations. Typical unsupervised methods rely on the multi-view consistency assumption for training networks, which suffer…

We present a novel method to train machine learning algorithms to estimate scene depths from a single image, by using the information provided by a camera's aperture as supervision. Prior works use a depth sensor's outputs or images of the…

In this work, we investigate several methods and strategies to learn deep embeddings for face recognition, using joint sample- and set-based optimization. We explain our framework that expands traditional learning with set-based supervision…

We propose MaskingDepth, a novel semi-supervised learning framework for monocular depth estimation to mitigate the reliance on large ground-truth depth quantities. MaskingDepth is designed to enforce consistency between the…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

Self-supervised monocular depth estimation aims to infer depth information without relying on labeled data. However, the lack of labeled information poses a significant challenge to the model's representation, limiting its ability to…

This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasserstein Autoencoder that learns shared latent representations…

Current self-supervised monocular depth estimation (MDE) approaches encounter performance limitations due to insufficient semantic-spatial knowledge extraction. To address this challenge, we propose Hybrid-depth, a novel framework that…

We study how autonomous robots can learn by themselves to improve their depth estimation capability. In particular, we investigate a self-supervised learning setup in which stereo vision depth estimates serve as targets for a convolutional…

We present a generalised self-supervised learning approach for monocular estimation of the real depth across scenes with diverse depth ranges from 1--100s of meters. Existing supervised methods for monocular depth estimation require…

Monocular depth and pose estimation play an important role in the development of colonoscopy-assisted navigation, as they enable improved screening by reducing blind spots, minimizing the risk of missed or recurrent lesions, and lowering…

Environment perception, including object detection and distance estimation, is one of the most crucial tasks for autonomous driving. Many attentions have been paid on the object detection task, but distance estimation only arouse few…

Due to difficulties in acquiring ground truth depth of equirectangular (360) images, the quality and quantity of equirectangular depth data today is insufficient to represent the various scenes in the world. Therefore, 360 depth estimation…

Most existing methods often rely on complex models to predict scene depth with high accuracy, resulting in slow inference that is not conducive to deployment. To better balance precision and speed, we first designed SmallDepth based on…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Convolutional Neural Networks (CNNs) need large amounts of data with ground truth annotation, which is a challenging problem that has limited the development and fast deployment of CNNs for many computer vision tasks. We propose a novel…

Monocular depth estimation has been a popular area of research for several years, especially since self-supervised networks have shown increasingly good results in bridging the gap with supervised and stereo methods. However, these…

Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM). Recently, the self-supervised learning framework that jointly optimizes the relative pose and target image depth…

Recent works have shown the benefit of integrating Conditional Random Fields (CRFs) models into deep architectures for improving pixel-level prediction tasks. Following this line of research, in this paper we introduce a novel approach for…