相关论文: AI-supported Framework of Semi-Automatic Monoplott…

In recent years, self-supervised methods for monocular depth estimation has rapidly become an significant branch of depth estimation task, especially for autonomous driving applications. Despite the high overall precision achieved, current…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

Accurate and complete terrain maps enhance the awareness of autonomous robots and enable safe and optimal path planning. Rocks and topography often create occlusions and lead to missing elevation information in the Digital Elevation Map…

Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…

This paper focuses on self-supervised monocular depth estimation in dynamic scenes trained on monocular videos. Existing methods jointly estimate pixel-wise depth and motion, relying mainly on an image reconstruction loss. Dynamic regions1…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

This work presents a novel approach for monocular dense Simultaneous Localization and Mapping. The surface to be estimated is represented as a piecewise planar surface, defined as a group of surfels each having as parameters its position…

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…

Three-dimensional electron microscopy (3DEM) is an essential technique to investigate volumetric tissue ultra-structure. Due to technical limitations and high imaging costs, samples are often imaged anisotropically, where resolution in the…

The self-supervised learning of depth and pose from monocular sequences provides an attractive solution by using the photometric consistency of nearby frames as it depends much less on the ground-truth data. In this paper, we address the…

Camera geo-localization from a monocular video is a fundamental task for video analysis and autonomous navigation. Although 3D reconstruction is a key technique to obtain camera poses, monocular 3D reconstruction in a large environment…

We tackle the problem of monocular 3D object detection across different sensors, environments, and camera setups. In this paper, we introduce a novel unsupervised domain adaptation approach, MonoCT, that generates highly accurate pseudo…

Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot…

Over the past few years, monocular depth estimation and completion have been paid more and more attention from the computer vision community because of their widespread applications. In this paper, we introduce novel physics…

The ability to accurately estimate depth information is crucial for many autonomous applications to recognize the surrounded environment and predict the depth of important objects. One of the most recently used techniques is monocular depth…

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth…

Monocular Depth Estimation (MDE) aims to predict pixel-wise depth given a single RGB image. For both, the convolutional as well as the recent attention-based models, encoder-decoder-based architectures have been found to be useful due to…